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mpc: add sideways and backward speed for manual position modes

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This commit is contained in:
bresch
2022-07-08 14:03:44 +02:00
committed by Mathieu Bresciani
parent 1de38c88d9
commit 3b26c611af
7 changed files with 81 additions and 2 deletions
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src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp
+8 -1
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@@ -70,11 +70,18 @@ void FlightTaskManualPosition::_scaleSticks()
/* Use same scaling as for FlightTaskManualAltitude */
FlightTaskManualAltitude::_scaleSticks();
/* Constrain length of stick inputs to 1 for xy*/
Vector2f stick_xy = _sticks.getPositionExpo().slice<2, 1>(0, 0);
Sticks::limitStickUnitLengthXY(stick_xy);
if (_param_mpc_vel_man_side.get() >= 0.f) {
stick_xy(1) *= _param_mpc_vel_man_side.get() / _param_mpc_vel_manual.get();
}
if ((_param_mpc_vel_man_back.get() >= 0.f) && (stick_xy(0) < 0.f)) {
stick_xy(0) *= _param_mpc_vel_man_back.get() / _param_mpc_vel_manual.get();
}
const float max_speed_from_estimator = _sub_vehicle_local_position.get().vxy_max;
float velocity_scale = _param_mpc_vel_manual.get();