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MC auto: add parameter to set the trajectory slow-down

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In some cases e.g.: (VTOL in wind) a good tracking cannot be
achieved. This condition then needs to be relaxed, otherwise the
drone cannot land properly.
This commit is contained in:
bresch
2021-02-05 20:13:30 +01:00
committed by Lorenz Meier
parent 9d90529e7f
commit 44872807b3
3 changed files with 21 additions and 2 deletions
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src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+1 -1
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@@ -455,7 +455,7 @@ void FlightTaskAutoLineSmoothVel::_generateTrajectory()
Vector2f drone_to_trajectory_xy(position_trajectory_xy - position_xy);
float position_error = drone_to_trajectory_xy.length();
float time_stretch = 1.f - math::constrain(position_error * 0.5f, 0.f, 1.f);
float time_stretch = 1.f - math::constrain(position_error / _param_mpc_xy_err_max.get(), 0.f, 1.f);
// Don't stretch time if the drone is ahead of the position setpoint
if (drone_to_trajectory_xy.dot(vel_traj_xy) < 0.f) {
src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
+2 -1
View File
@@ -96,6 +96,7 @@ protected:
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max
);
};