fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 07:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_constraints: remove deprecated speed_xy constraint

Browse Source
This commit is contained in:
Matthias Grob
2021-11-09 21:47:06 -05:00
committed by Daniel Agar
parent 356de6ccf1
commit 7ec8dd9d23
9 changed files with 11 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp
+6 -13
View File
@@ -61,15 +61,9 @@ bool FlightTaskManualPosition::activate(const vehicle_local_position_setpoint_s
// all requirements from altitude-mode still have to hold
bool ret = FlightTaskManualAltitude::activate(last_setpoint);
// set task specific constraint
if (_constraints.speed_xy >= _param_mpc_vel_manual.get()) {
_constraints.speed_xy = _param_mpc_vel_manual.get();
}
_position_setpoint(0) = _position(0);
_position_setpoint(1) = _position(1);
_velocity_setpoint(0) = _velocity_setpoint(1) = 0.0f;
_velocity_scale = _constraints.speed_xy;
// for position-controlled mode, we need a valid position and velocity state
// in NE-direction
@@ -92,25 +86,24 @@ void FlightTaskManualPosition::_scaleSticks()
const float max_speed_from_estimator = _sub_vehicle_local_position.get().vxy_max;
float velocity_scale = _param_mpc_vel_manual.get();
if (PX4_ISFINITE(max_speed_from_estimator)) {
// use the minimum of the estimator and user specified limit
_velocity_scale = fminf(_constraints.speed_xy, max_speed_from_estimator);
velocity_scale = fminf(velocity_scale, max_speed_from_estimator);
// Allow for a minimum of 0.3 m/s for repositioning
_velocity_scale = fmaxf(_velocity_scale, 0.3f);
} else {
_velocity_scale = _constraints.speed_xy;
velocity_scale = fmaxf(velocity_scale, 0.3f);
}
// scale velocity to its maximum limits
Vector2f vel_sp_xy = stick_xy * _velocity_scale;
Vector2f vel_sp_xy = stick_xy * velocity_scale;
/* Rotate setpoint into local frame. */
_rotateIntoHeadingFrame(vel_sp_xy);
// collision prevention
if (_collision_prevention.is_active()) {
_collision_prevention.modifySetpoint(vel_sp_xy, _velocity_scale, _position.xy(), _velocity.xy());
_collision_prevention.modifySetpoint(vel_sp_xy, velocity_scale, _position.xy(), _velocity.xy());
}
_velocity_setpoint.xy() = vel_sp_xy;
src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.hpp
-1
View File
@@ -69,7 +69,6 @@ protected:
(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy
)
private:
float _velocity_scale{0.0f}; //scales the stick input to velocity
uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */
WeatherVane *_weathervane_yaw_handler =