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Auto mode traj - limit yaw setpoint rate of change when generated in the flight task instead of clamping the yaw rate in the controller

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Move yaw setpoint slew rate from AutoLineSmoothVel to Auto. The slew rate is now applied consistently to all the auto FlightTasks
This commit is contained in:
bresch
2019-04-24 14:34:00 +02:00
committed by Lorenz Meier
parent e6b427022a
commit 581d25f77f
6 changed files with 53 additions and 18 deletions
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src/modules/mc_att_control/mc_att_control.hpp
-4
View File
@@ -147,9 +147,6 @@ private:
*/
matrix::Vector3f pid_attenuations(float tpa_breakpoint, float tpa_rate);
/** lower yawspeed limit in auto modes because we expect yaw steps */
void adapt_auto_yaw_rate_limit();
AttitudeControl _attitude_control; /**< class for attitude control calculations */
int _v_att_sub{-1}; /**< vehicle attitude subscription */
@@ -249,7 +246,6 @@ private:
(ParamFloat<px4::params::MC_ROLLRATE_MAX>) _param_mc_rollrate_max,
(ParamFloat<px4::params::MC_PITCHRATE_MAX>) _param_mc_pitchrate_max,
(ParamFloat<px4::params::MC_YAWRATE_MAX>) _param_mc_yawrate_max,
(ParamFloat<px4::params::MC_YAWRAUTO_MAX>) _param_mc_yawrauto_max,
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max, /**< scaling factor from stick to yaw rate */
(ParamFloat<px4::params::MC_ACRO_R_MAX>) _param_mc_acro_r_max,
src/modules/mc_att_control/mc_att_control_main.cpp
-11
View File
@@ -149,7 +149,6 @@ MulticopterAttitudeControl::parameters_updated()
// angular rate limits
using math::radians;
_attitude_control.setRateLimit(Vector3f(radians(_param_mc_rollrate_max.get()), radians(_param_mc_pitchrate_max.get()), radians(_param_mc_yawrate_max.get())));
adapt_auto_yaw_rate_limit();
// manual rate control acro mode rate limits
_acro_rate_max = Vector3f(radians(_param_mc_acro_r_max.get()), radians(_param_mc_acro_p_max.get()), radians(_param_mc_acro_y_max.get()));
@@ -195,16 +194,6 @@ MulticopterAttitudeControl::vehicle_control_mode_poll()
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode);
adapt_auto_yaw_rate_limit();
}
}
void MulticopterAttitudeControl::adapt_auto_yaw_rate_limit() {
if ((_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_auto_enabled) &&
!_v_control_mode.flag_control_manual_enabled) {
_attitude_control.setRateLimitYaw(math::radians(_param_mc_yawrauto_max.get()));
} else {
_attitude_control.setRateLimitYaw(math::radians(_param_mc_yawrate_max.get()));
}
}