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PosControl: fix hover update equation

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The integrator now absorbs properly the change in hover thrust
This commit is contained in:
bresch
2022-01-08 15:42:10 +01:00
committed by Matthias Grob
parent 6c97700eaa
commit 57fa9c545a
1 changed files with 11 additions and 2 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+11 -2
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@@ -72,8 +72,17 @@ void PositionControl::setHorizontalThrustMargin(const float margin)
void PositionControl::updateHoverThrust(const float hover_thrust_new) void PositionControl::updateHoverThrust(const float hover_thrust_new)
{ {
_vel_int(2) += (hover_thrust_new - _hover_thrust) * (CONSTANTS_ONE_G / hover_thrust_new); // Given that the equation for thrust is T = a_sp * Th / g - Th
setHoverThrust(hover_thrust_new); // with a_sp = desired acceleration, Th = hover thrust and g = gravity constant,
// we want to find the acceleration that needs to be added to the integrator in order obtain
// the same thrust after replacing the current hover thrust by the new one.
// T' = T => a_sp' * Th' / g - Th' = a_sp * Th / g - Th
// so a_sp' = (a_sp - g) * Th / Th' + g
// we can then add a_sp' - a_sp to the current integrator to absorb the effect of changing Th by Th'
if (hover_thrust_new > FLT_EPSILON) {
_vel_int(2) += (_acc_sp(2) - CONSTANTS_ONE_G) * _hover_thrust / hover_thrust_new + CONSTANTS_ONE_G - _acc_sp(2);
setHoverThrust(hover_thrust_new);
}
} }
void PositionControl::setState(const PositionControlStates &states) void PositionControl::setState(const PositionControlStates &states)