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mpc: add possibility to generate tilt using full 3D accel

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Using full 3D acceleration provides better horizontal acceleration
tracking but also creates a sometimes unwanted behavior because the tilt
is directly coupled with the vertical acceleration setpoint.
This commit is contained in:
bresch
2024-01-26 16:53:21 +01:00
committed by Daniel Agar
parent 32aa3263a6
commit 2e6dd243af
5 changed files with 30 additions and 5 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.hpp
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@@ -146,6 +146,7 @@ private:
(ParamFloat<px4::params::MPC_TILTMAX_AIR>) _param_mpc_tiltmax_air,
(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover,
(ParamBool<px4::params::MPC_USE_HTE>) _param_mpc_use_hte,
(ParamBool<px4::params::MPC_ACC_DECOUPLE>) _param_mpc_acc_decouple,
// Takeoff / Land
(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */