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MPC_SPOOLUP_TIME -> COM_SPOOLUP_TIME

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This commit is contained in:
Martina Rivizzigno
2022-06-24 19:44:43 +02:00
committed by Matthias Grob
parent c8fb7a6990
commit 55563eba49
10 changed files with 35 additions and 24 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
+1 -1
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@@ -234,7 +234,7 @@ void MulticopterPositionControl::parameters_update(bool force)
_param_mpc_tko_speed.set(math::min(_param_mpc_tko_speed.get(), _param_mpc_z_vel_max_up.get()));
_param_mpc_land_speed.set(math::min(_param_mpc_land_speed.get(), _param_mpc_z_vel_max_dn.get()));
_takeoff.setSpoolupTime(_param_mpc_spoolup_time.get());
_takeoff.setSpoolupTime(_param_com_spoolup_time.get());
_takeoff.setTakeoffRampTime(_param_mpc_tko_ramp_t.get());
_takeoff.generateInitialRampValue(_param_mpc_z_vel_p_acc.get());
}
src/modules/mc_pos_control/MulticopterPositionControl.hpp
+1 -1
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@@ -147,7 +147,7 @@ private:
(ParamBool<px4::params::MPC_USE_HTE>) _param_mpc_use_hte,
// Takeoff / Land
(ParamFloat<px4::params::MPC_SPOOLUP_TIME>) _param_mpc_spoolup_time, /**< time to let motors spool up after arming */
(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */
(ParamFloat<px4::params::MPC_TKO_RAMP_T>) _param_mpc_tko_ramp_t, /**< time constant for smooth takeoff ramp */
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
src/modules/mc_pos_control/Takeoff/Takeoff.hpp
+1 -1
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@@ -94,7 +94,7 @@ public:
private:
TakeoffState _takeoff_state = TakeoffState::disarmed;
systemlib::Hysteresis _spoolup_time_hysteresis{false}; ///< becomes true MPC_SPOOLUP_TIME seconds after the vehicle was armed
systemlib::Hysteresis _spoolup_time_hysteresis{false}; ///< becomes true COM_SPOOLUP_TIME seconds after the vehicle was armed
float _takeoff_ramp_time{0.f};
float _takeoff_ramp_vz_init{0.f}; ///< verticval velocity resulting in zero thrust
src/modules/mc_pos_control/mc_pos_control_params.c
-16
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@@ -780,22 +780,6 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
*/
PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
/**
* Enforced delay between arming and takeoff
*
* For altitude controlled modes the time from arming the motors until
* a takeoff is possible gets forced to be at least MPC_SPOOLUP_TIME seconds
* to ensure the motors and propellers can sppol up and reach idle speed before
* getting commanded to spin faster. This delay is particularly useful for vehicles
* with slow motor spin-up e.g. because of large propellers.
*
* @min 0
* @max 10
* @unit s
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_SPOOLUP_TIME, 1.0f);
/**
* Yaw mode.
*