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MC-stabilized: rescale thrust input to hover thrust at zero stick input

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Use hover thrust estimate in stabilized mode to rescale stick inputs. Prevents vehicle from losing/gaining altitude when switching from position to stabilized mode.
This commit is contained in:
mahimayoga 2025-01-13 10:30:35 +01:00 committed by Mahima Yoga
parent f5c05f6d01
commit 28fa044386
2 changed files with 29 additions and 8 deletions
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13
src/modules/mc_att_control/mc_att_control.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -47,6 +47,7 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/autotune_attitude_control_status.h>
#include <uORB/topics/hover_thrust_estimate.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
@ -98,9 +99,11 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _hover_thrust_estimate_sub{ORB_ID(hover_thrust_estimate)};
uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _autotune_attitude_control_status_sub{ORB_ID(autotune_attitude_control_status)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
@ -118,8 +121,10 @@ private:
matrix::Vector3f _thrust_setpoint_body; /**< body frame 3D thrust vector */
float _man_yaw_sp{0.f}; /**< current yaw setpoint in manual mode */
float _man_tilt_max; /**< maximum tilt allowed for manual flight [rad] */
float _hover_thrust{NAN};
float _man_yaw_sp{0.f}; /**< current yaw setpoint in manual mode */
float _man_tilt_max{0.f}; /**< maximum tilt allowed for manual flight [rad] */
SlewRate<float> _manual_throttle_minimum{0.f}; ///< 0 when landed and ramped to MPC_MANTHR_MIN in air
SlewRate<float> _manual_throttle_maximum{0.f}; ///< 0 when disarmed ramped to 1 when spooled up

24
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -103,15 +103,31 @@ MulticopterAttitudeControl::throttle_curve(float throttle_stick_input)
{
float thrust = 0.f;
{
hover_thrust_estimate_s hte;
if (_hover_thrust_estimate_sub.update(&hte)) {
if (hte.valid) {
_hover_thrust = hte.hover_thrust;
}
}
}
if (!PX4_ISFINITE(_hover_thrust)) {
_hover_thrust = _param_mpc_thr_hover.get();
}
// throttle_stick_input is in range [-1, 1]
switch (_param_mpc_thr_curve.get()) {
case 1: // no rescaling to hover throttle
thrust = math::interpolate(throttle_stick_input, -1.f, 1.f,
_manual_throttle_minimum.getState(), _param_mpc_thr_max.get());
break;
default: // 0 or other: rescale such that a centered throttle stick corresponds to hover throttle
thrust = math::interpolateNXY(throttle_stick_input, {-1.f, 0.f, 1.f},
{_manual_throttle_minimum.getState(), _param_mpc_thr_hover.get(), _param_mpc_thr_max.get()});
default: // 0 or other: rescale to hover throttle at 0 stick input
thrust = math::interpolateNXY(throttle_stick_input,
{-1.f, 0.f, 1.f},
{_manual_throttle_minimum.getState(), _hover_thrust, _param_mpc_thr_max.get()});
break;
}