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Remove horizontal slow down close to ground

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Because based on the numerous complaints it was disabled by default
(only velocities above 10m/s were limited)
and since then no one intentionally used it anymore. But
there were some minor investigations of drones not reaching
their maximum speed which always showed 10m/s.
This commit is contained in:
Matthias Grob
2021-06-25 11:15:41 +02:00
committed by Lorenz Meier
parent 055c9db178
commit 5ac5399d83
5 changed files with 4 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/MulticopterPositionControl.cpp
-1
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@@ -121,7 +121,6 @@ int MulticopterPositionControl::parameters_update(bool force)
num_changed += _param_mpc_vel_manual.commit_no_notification(xy_vel);
num_changed += _param_mpc_xy_cruise.commit_no_notification(xy_vel);
num_changed += _param_mpc_xy_vel_max.commit_no_notification(xy_vel);
num_changed += _param_mpc_land_vel_xy.commit_no_notification(xy_vel * 0.75f);
}
if (_param_mpc_z_vel_all.get() >= 0.f) {
src/modules/mc_pos_control/MulticopterPositionControl.hpp
+1 -2
View File
@@ -172,8 +172,7 @@ private:
(ParamFloat<px4::params::MPC_MAN_Y_TAU>) _param_mpc_man_y_tau,
(ParamFloat<px4::params::MPC_XY_VEL_ALL>) _param_mpc_xy_vel_all,
(ParamFloat<px4::params::MPC_Z_VEL_ALL>) _param_mpc_z_vel_all,
(ParamFloat<px4::params::MPC_LAND_VEL_XY>) _param_mpc_land_vel_xy
(ParamFloat<px4::params::MPC_Z_VEL_ALL>) _param_mpc_z_vel_all
);
control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */
src/modules/mc_pos_control/mc_pos_control_params.c
+3 -19
View File
@@ -363,18 +363,6 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
*/
PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
/**
* Maximum horizontal position mode velocity when close to ground/home altitude
*
* Set the value higher than the otherwise expected maximum to disable any slowdown.
*
* @unit m/s
* @min 0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_LAND_VEL_XY, 10.0f);
/**
* Enable user assisted descent speed for autonomous land routine.
*
@@ -659,12 +647,8 @@ PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
/**
* Altitude for 1. step of slow landing (descend)
*
* Below this altitude:
* - descending velocity gets limited to a value
* Below this altitude descending velocity gets limited to a value
* between "MPC_Z_VEL_MAX_DN" and "MPC_LAND_SPEED"
* - horizontal velocity gets limited to a value
* between "MPC_VEL_MANUAL" and "MPC_LAND_VEL_XY"
* for a smooth descent and landing experience.
* Value needs to be higher than "MPC_LAND_ALT2"
*
* @unit m
@@ -678,8 +662,8 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f);
/**
* Altitude for 2. step of slow landing (landing)
*
* Below this altitude descending and horizontal velocities get
* limited to "MPC_LAND_SPEED" and "MPC_LAND_VEL_XY", respectively.
* Below this altitude descending velocity gets
* limited to "MPC_LAND_SPEED".
* Value needs to be lower than "MPC_LAND_ALT1"
*
* @unit m