fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

mpc: leave room for altitude error control during descent and descent

Browse Source 
Since the same parameter is used to generate the trajectory and to
saturate the controller, there is no additional space for the output of
the position controller once it is filled with the feedforward, letting
the altitude grow uncontrolled.
This commit is contained in:
bresch 2022-01-06 19:07:01 +01:00 committed by Mathieu Bresciani
parent ea7d2334c9
commit 4fc7348582
1 changed files with 5 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
View File

@ -830,6 +830,11 @@ void FlightTaskAuto::_updateTrajConstraints()
_position_smoothing.setMaxAccelerationZ(_param_mpc_acc_down_max.get());
_position_smoothing.setMaxVelocityZ(_param_mpc_z_v_auto_dn.get());
}
// Stretch the constraints of the velocity controller to leave some room for an additional
// correction required by the altitude/vertical position controller
_constraints.speed_down = math::max(_constraints.speed_down, 1.2f * _param_mpc_z_v_auto_dn.get());;
_constraints.speed_up = math::max(_constraints.speed_up, 1.2f * _param_mpc_z_v_auto_up.get());;
}
bool FlightTaskAuto::_highEnoughForLandingGear()