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Vel smooth - Improve position lock/unlock detection

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This commit is contained in:
bresch
2018-11-06 22:17:00 +01:00
committed by Roman Bapst
parent d9edcfdc06
commit 67c0846068
1 changed files with 8 additions and 11 deletions
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src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+8 -11
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@@ -75,7 +75,6 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
}
Vector2f vel_xy_sp = Vector2f(&_velocity_setpoint(0));
Vector2f vel_xy_sp_smooth = Vector2f(&_vel_sp_smooth(0));
float jerk[3] = {_jerk_max.get(), _jerk_max.get(), _jerk_max.get()};
float jerk_xy = _jerk_max.get();
@@ -126,22 +125,20 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
Vector3f accel_sp_smooth;
for (int i = 0; i < 3; ++i) {
_smoothing[i].setCurrentPosition(_position(i));
if (!_position_lock_xy_active) {
_smoothing[i].setCurrentPosition(_position(i));
}
_smoothing[i].integrate(accel_sp_smooth(i), _vel_sp_smooth(i), pos_sp_smooth(i));
_velocity_setpoint(i) = _vel_sp_smooth(i); // Feedforward
}
// Check for position lock transition
Vector2f accel_setpoint_xy_smooth = Vector2f(&accel_sp_smooth(0));
if (vel_xy_sp_smooth.length() < 0.002f &&
accel_setpoint_xy_smooth.length() < .2f &&
if (Vector2f(_vel_sp_smooth).length() < 0.01f &&
Vector2f(accel_sp_smooth).length() < .2f &&
sticks_expo_xy.length() <= FLT_EPSILON) {
if (!_position_lock_xy_active) {
_position_setpoint_xy_locked(0) = pos_sp_smooth(0);
_position_setpoint_xy_locked(1) = pos_sp_smooth(1);
}
_position_setpoint_xy_locked(0) = pos_sp_smooth(0);
_position_setpoint_xy_locked(1) = pos_sp_smooth(1);
_position_lock_xy_active = true;
}