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mpc: add sideways and backward speed for manual position modes

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This commit is contained in:
bresch
2022-02-18 17:08:00 +01:00
committed by Mathieu Bresciani
parent 1de38c88d9
commit 3b26c611af
7 changed files with 81 additions and 2 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
+24
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@@ -120,6 +120,8 @@ void MulticopterPositionControl::parameters_update(bool force)
if (_param_mpc_xy_vel_all.get() >= 0.f) {
float xy_vel = _param_mpc_xy_vel_all.get();
num_changed += _param_mpc_vel_manual.commit_no_notification(xy_vel);
num_changed += _param_mpc_vel_man_back.commit_no_notification(-1.f);
num_changed += _param_mpc_vel_man_side.commit_no_notification(-1.f);
num_changed += _param_mpc_xy_cruise.commit_no_notification(xy_vel);
num_changed += _param_mpc_xy_vel_max.commit_no_notification(xy_vel);
}
@@ -190,6 +192,28 @@ void MulticopterPositionControl::parameters_update(bool force)
"Manual speed has been constrained by maximum speed", _param_mpc_xy_vel_max.get());
}
if (_param_mpc_vel_man_back.get() > _param_mpc_vel_manual.get()) {
_param_mpc_vel_man_back.set(_param_mpc_vel_manual.get());
_param_mpc_vel_man_back.commit();
mavlink_log_critical(&_mavlink_log_pub, "Manual backward speed has been constrained by forward speed\t");
/* EVENT
* @description <param>MPC_VEL_MAN_BACK</param> is set to {1:.0}.
*/
events::send<float>(events::ID("mc_pos_ctrl_man_vel_back_set"), events::Log::Warning,
"Manual backward speed has been constrained by forward speed", _param_mpc_vel_manual.get());
}
if (_param_mpc_vel_man_side.get() > _param_mpc_vel_manual.get()) {
_param_mpc_vel_man_side.set(_param_mpc_vel_manual.get());
_param_mpc_vel_man_side.commit();
mavlink_log_critical(&_mavlink_log_pub, "Manual sideways speed has been constrained by forward speed\t");
/* EVENT
* @description <param>MPC_VEL_MAN_SIDE</param> is set to {1:.0}.
*/
events::send<float>(events::ID("mc_pos_ctrl_man_vel_side_set"), events::Log::Warning,
"Manual sideways speed has been constrained by forward speed", _param_mpc_vel_manual.get());
}
if (_param_mpc_z_v_auto_up.get() > _param_mpc_z_vel_max_up.get()) {
_param_mpc_z_v_auto_up.set(_param_mpc_z_vel_max_up.get());
_param_mpc_z_v_auto_up.commit();