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mc_pos_control: combine separate pitch and roll maximum tilt angles into one

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because there is no sense to have different angle scalings into different directions
it would lead to unintuitive piloting experience
acceleration is directly coupled to the tilt angle regardless of possible assymetric multicopter vehicles
This commit is contained in:
Matthias Grob 2017-04-19 15:49:35 +02:00
parent d1b270d5b2
commit 709bd8cb28
2 changed files with 9 additions and 26 deletions
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20
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -176,8 +176,7 @@ private:
param_t land_speed;
param_t tko_speed;
param_t tilt_max_land;
param_t man_roll_max;
param_t man_pitch_max;
param_t man_tilt_max;
param_t man_yaw_max;
param_t global_yaw_max;
param_t mc_att_yaw_p;
@ -197,8 +196,7 @@ private:
float land_speed;
float tko_speed;
float tilt_max_land;
float man_roll_max;
float man_pitch_max;
float man_tilt_max;
float man_yaw_max;
float global_yaw_max;
float mc_att_yaw_p;
@ -495,9 +493,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.land_speed = param_find("MPC_LAND_SPEED");
_params_handles.tko_speed = param_find("MPC_TKO_SPEED");
_params_handles.tilt_max_land = param_find("MPC_TILTMAX_LND");
_params_handles.man_roll_max = param_find("MPC_MAN_R_MAX");
_params_handles.man_pitch_max = param_find("MPC_MAN_P_MAX");
_params_handles.man_tilt_max = param_find("MPC_MAN_TILT_MAX");
_params_handles.man_yaw_max = param_find("MPC_MAN_Y_MAX");
_params_handles.global_yaw_max = param_find("MC_YAWRATE_MAX");
@ -629,12 +625,10 @@ MulticopterPositionControl::parameters_update(bool force)
/* mc attitude control parameters*/
/* manual control scale */
param_get(_params_handles.man_roll_max, &_params.man_roll_max);
param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
param_get(_params_handles.man_tilt_max, &_params.man_tilt_max);
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
param_get(_params_handles.global_yaw_max, &_params.global_yaw_max);
_params.man_roll_max = math::radians(_params.man_roll_max);
_params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_tilt_max = math::radians(_params.man_tilt_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
_params.global_yaw_max = math::radians(_params.global_yaw_max);
@ -2182,8 +2176,8 @@ MulticopterPositionControl::generate_attitude_setpoint(float dt)
/* control roll and pitch directly if no aiding velocity controller is active */
if (!_control_mode.flag_control_velocity_enabled) {
_att_sp.roll_body = _manual.y * _params.man_roll_max;
_att_sp.pitch_body = -_manual.x * _params.man_pitch_max;
_att_sp.roll_body = _manual.y * _params.man_tilt_max;
_att_sp.pitch_body = -_manual.x * _params.man_tilt_max;
/* only if optimal recovery is not used, modify roll/pitch */
if (_params.opt_recover <= 0) {

15
src/modules/mc_pos_control/mc_pos_control_params.c
View File

@ -359,7 +359,7 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.5f);
PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
/**
* Max manual roll
* Maximal tilt angle in manual or altitude mode
*
* @unit deg
* @min 0.0
@ -367,18 +367,7 @@ PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX, 35.0f);
/**
* Max manual pitch
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f);
PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
/**
* Max manual yaw rate