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Sticks: globalize MPC_HOLD_DZ to MAN_DEADZONE

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Matthias Grob 2025-09-04 14:56:34 +02:00 committed by Silvan Fuhrer
parent a9720cf1ef
commit 2bf9fce577
8 changed files with 30 additions and 27 deletions
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1
docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
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@ -645,7 +645,6 @@
1 1 MPC_ACC_HOR_MAX 5.000000000000000000 9
1 1 MPC_ACC_UP_MAX 4.000000000000000000 9
1 1 MPC_ALT_MODE 2 6
1 1 MPC_HOLD_DZ 0.100000001490116119 9
1 1 MPC_HOLD_MAX_XY 0.800000011920928955 9
1 1 MPC_HOLD_MAX_Z 0.600000023841857910 9
1 1 MPC_JERK_AUTO 4.000000000000000000 9

12
docs/en/flight_modes_mc/position.md
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@ -43,7 +43,7 @@ While very rare on a well calibrated vehicle, sometimes there may be problems wi
RC mode where roll, pitch, throttle (RPT) sticks control movement in corresponding axes/directions.
Centered sticks level vehicle and hold it to fixed altitude and position against wind.
- Centered roll, pitch, throttle sticks (within RC deadzone [MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ)) hold x, y, z position steady against any disturbance like wind.
- Centered roll, pitch, throttle sticks (within RC deadzone [MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE)) hold x, y, z position steady against any disturbance like wind.
- Outside center:
- Roll/Pitch sticks control horizontal acceleration over ground in the vehicle's left-right and forward-back directions (respectively).
- Throttle stick controls speed of ascent-descent.
@ -51,10 +51,10 @@ Centered sticks level vehicle and hold it to fixed altitude and position against
- Takeoff:
- When landed, the vehicle will take off if the throttle stick is raised above 62.5% percent (of the full range from bottom).
- Global position estimate is required.
- Manual control input is required (such as RC control, joystick).
- Roll, Pitch, Throttle: Assistance from autopilot to hold position against wind.
- Yaw: Assistance from autopilot to stabilize the attitude rate.
Position of RC stick maps to the rate of rotation of vehicle in that orientation.
- Manual control input is required (such as RC control, joystick).
- Roll, Pitch, Throttle: Assistance from autopilot to hold position against wind.
- Yaw: Assistance from autopilot to stabilize the attitude rate.
Position of RC stick maps to the rate of rotation of vehicle in that orientation.
### Parameters
@ -62,7 +62,7 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="MPC_HOLD_DZ"></a>[MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ) | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range). |
| <a id="MAN_DEADZONE"></a>[MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE) | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range). |
| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | Maximum vertical ascent velocity. Default: 3 m/s. |
| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Maximum vertical descent velocity. Default: 1 m/s. |
| <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1) | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m. |

8
src/lib/sticks/Sticks.cpp
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@ -57,10 +57,10 @@ bool Sticks::checkAndUpdateStickInputs()
_positions(3) = manual_control_setpoint.yaw;
// Exponential scale
_positions_expo(0) = math::expo_deadzone(_positions(0), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
_positions_expo(1) = math::expo_deadzone(_positions(1), _param_mpc_xy_man_expo.get(), _param_mpc_hold_dz.get());
_positions_expo(2) = math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(), _param_mpc_hold_dz.get());
_positions_expo(3) = math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(), _param_mpc_hold_dz.get());
_positions_expo(0) = math::expo_deadzone(_positions(0), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get());
_positions_expo(1) = math::expo_deadzone(_positions(1), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get());
_positions_expo(2) = math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(), _param_man_deadzone.get());
_positions_expo(3) = math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(), _param_man_deadzone.get());
_aux_positions(0) = manual_control_setpoint.aux1;
_aux_positions(1) = manual_control_setpoint.aux2;

2
src/lib/sticks/Sticks.hpp
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@ -101,7 +101,7 @@ private:
uORB::Subscription _failsafe_flags_sub{ORB_ID(failsafe_flags)};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz,
(ParamFloat<px4::params::MAN_DEADZONE>) _param_man_deadzone,
(ParamFloat<px4::params::MPC_XY_MAN_EXPO>) _param_mpc_xy_man_expo,
(ParamFloat<px4::params::MPC_Z_MAN_EXPO>) _param_mpc_z_man_expo,
(ParamFloat<px4::params::MPC_YAW_EXPO>) _param_mpc_yaw_expo

17
src/modules/manual_control/manual_control_params.c
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@ -58,3 +58,20 @@ PARAM_DEFINE_INT32(MAN_ARM_GESTURE, 1);
* @max 15
*/
PARAM_DEFINE_FLOAT(MAN_KILL_GEST_T, -1.f);
/**
* Deadzone for sticks (only specific use cases)
*
* Range around stick center ignored to prevent
* vehicle drift from stick hardware inaccuracy.
*
* Does not apply to any precise constant input like
* throttle and attitude or rate piloting.
*
* @min 0
* @max 1
* @decimal 2
* @increment 0.01
* @group Manual Control
*/
PARAM_DEFINE_FLOAT(MAN_DEADZONE, 0.1f);

2
src/modules/mc_att_control/mc_att_control.hpp
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@ -161,7 +161,7 @@ private:
(ParamFloat<px4::params::MC_YAWRATE_MAX>) _param_mc_yawrate_max,
/* Stabilized mode params */
(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz,
(ParamFloat<px4::params::MAN_DEADZONE>) _param_man_deadzone,
(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max,
(ParamFloat<px4::params::MPC_MANTHR_MIN>) _param_mpc_manthr_min,
(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,

2
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -147,7 +147,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt)
const float yaw = Eulerf(q).psi();
const float yaw_stick_input = math::expo_deadzone(_manual_control_setpoint.yaw, _param_mpc_yaw_expo.get(),
_param_mpc_hold_dz.get());
_param_man_deadzone.get());
_stick_yaw.generateYawSetpoint(attitude_setpoint.yaw_sp_move_rate, _yaw_setpoint_stabilized, yaw_stick_input, yaw, dt,
_unaided_heading);

13
src/modules/mc_pos_control/multicopter_position_mode_params.c
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@ -130,19 +130,6 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f);
*/
PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.f);
/**
* Deadzone for sticks in manual piloted modes
*
* Does not apply to manual throttle and direct attitude piloting by stick.
*
* @min 0
* @max 1
* @decimal 2
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
/**
* Manual position control stick exponential curve sensitivity
*