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mc_pos_control: enable control in xy during smooth-takeoff from ground but limit tilt

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This commit is contained in:
Dennis Mannhart
2018-09-27 10:21:10 +02:00
committed by Daniel Agar
parent 3329d69d05
commit 511563d4ac
1 changed files with 7 additions and 13 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+7 -13
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@@ -139,7 +139,8 @@ private:
(ParamInt<px4::params::MPC_POS_MODE>) MPC_POS_MODE,
(ParamInt<px4::params::MPC_ALT_MODE>) MPC_ALT_MODE,
(ParamFloat<px4::params::MPC_IDLE_TKO>) MPC_IDLE_TKO, /**< time constant for smooth takeoff ramp */
(ParamInt<px4::params::MPC_OBS_AVOID>) MPC_OBS_AVOID /**< enable obstacle avoidance */
(ParamInt<px4::params::MPC_OBS_AVOID>) MPC_OBS_AVOID, /**< enable obstacle avoidance */
(ParamFloat<px4::params::MPC_TILTMAX_LND>) MPC_TILTMAX_LND /**< maximum tilt for landing and smooth takeoff */
);
control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */
@@ -684,25 +685,18 @@ MulticopterPositionControl::run()
// altitude above reference takeoff
const float alt_above_tko = -(_states.position(2) - _takeoff_reference_z);
// disable position-xy / yaw control when close to ground
// disable yaw control when close to ground
if (alt_above_tko <= ALTITUDE_THRESHOLD) {
// don't control position in xy
setpoint.x = setpoint.y = NAN;
setpoint.vx = setpoint.vy = NAN;
setpoint.thrust[0] = setpoint.thrust[1] = NAN;
setpoint.yaw = setpoint.yawspeed = NAN;
if (PX4_ISFINITE(_states.velocity(0)) && PX4_ISFINITE(_states.velocity(1))) {
setpoint.vx = setpoint.vy = 0.0f; // try to keep zero velocity
} else {
setpoint.thrust[0] = setpoint.thrust[1] = 0.0f; // just keeping pointing upwards
}
setpoint.yawspeed = NAN;
// if there is a valid yaw estimate, just set setpoint to yaw
if (PX4_ISFINITE(_states.yaw)) {
setpoint.yaw = _states.yaw;
}
// limit tilt during smooth takeoff when still close to ground
constraints.tilt = math::radians(MPC_TILTMAX_LND.get());
}
}