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Remove FlightTaskManualPositionSmoothVel

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The default implementation for multicopter Position mode is FlightTaskManualAcceleration.
The last missing piece was support for CollisionPrevention in this implementation.
This commit is contained in:
Matthias Grob
2024-11-21 11:36:03 +01:00
committed by Claudio Chies
parent b74dd57e7c
commit 2ef2911c36
8 changed files with 1 additions and 329 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.hpp
-1
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@@ -167,7 +167,6 @@ private:
(ParamFloat<px4::params::MPC_VEL_MAN_SIDE>) _param_mpc_vel_man_side,
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
(ParamFloat<px4::params::MPC_LAND_ALT2>) _param_mpc_land_alt2, /**< downwards speed limited below this altitude */
(ParamInt<px4::params::MPC_POS_MODE>) _param_mpc_pos_mode,
(ParamInt<px4::params::MPC_ALT_MODE>) _param_mpc_alt_mode,
(ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd, /**< maximum tilt for landing and smooth takeoff */
(ParamFloat<px4::params::MPC_THR_MIN>) _param_mpc_thr_min,
src/modules/mc_pos_control/multicopter_position_mode_params.c
+1 -6
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@@ -39,14 +39,10 @@
* Sticks directly map to velocity setpoints without smoothing.
* Also applies to vertical direction and Altitude mode.
* Useful for velocity control tuning.
* - "Smoothed velocity":
* Sticks map to velocity but with maximum acceleration and jerk limits based on
* jerk optimized trajectory generator (different algorithm than 1).
* - "Acceleration based":
* Sticks map to acceleration and there's a virtual brake drag
*
* @value 0 Direct velocity
* @value 3 Smoothed velocity
* @value 4 Acceleration based
* @group Multicopter Position Control
*/
@@ -104,7 +100,6 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.f);
*
* MPC_POS_MODE
* 1 just deceleration
* 3 acceleration and deceleration
* 4 not used, use MPC_ACC_HOR instead
*
* @unit m/s^2
@@ -125,7 +120,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f);
*
* Setting this to the maximum value essentially disables the limit.
*
* Only used with smooth MPC_POS_MODE Smoothed velocity and Acceleration based.
* Only used with MPC_POS_MODE Acceleration based.
*
* @unit m/s^3
* @min 0.5