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vehicle_constraints: remove deprecated speed_xy constraint

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This commit is contained in:
Matthias Grob
2021-11-09 13:13:45 +01:00
committed by Daniel Agar
parent 356de6ccf1
commit 7ec8dd9d23
9 changed files with 11 additions and 36 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
+2 -5
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@@ -378,7 +378,6 @@ void MulticopterPositionControl::Run()
}
// override with defaults
_vehicle_constraints.speed_xy = _param_mpc_xy_vel_max.get();
_vehicle_constraints.speed_up = _param_mpc_z_vel_max_up.get();
_vehicle_constraints.speed_down = _param_mpc_z_vel_max_dn.get();
}
@@ -420,8 +419,6 @@ void MulticopterPositionControl::Run()
PX4_ISFINITE(_vehicle_constraints.speed_up) ? _vehicle_constraints.speed_up : _param_mpc_z_vel_max_up.get());
const float speed_down = PX4_ISFINITE(_vehicle_constraints.speed_down) ? _vehicle_constraints.speed_down :
_param_mpc_z_vel_max_dn.get();
const float speed_horizontal = PX4_ISFINITE(_vehicle_constraints.speed_xy) ? _vehicle_constraints.speed_xy :
_param_mpc_xy_vel_max.get();
// Allow ramping from zero thrust on takeoff
const float minimum_thrust = flying ? _param_mpc_thr_min.get() : 0.f;
@@ -429,7 +426,7 @@ void MulticopterPositionControl::Run()
_control.setThrustLimits(minimum_thrust, _param_mpc_thr_max.get());
_control.setVelocityLimits(
math::constrain(speed_horizontal, 0.f, _param_mpc_xy_vel_max.get()),
_param_mpc_xy_vel_max.get(),
math::min(speed_up, _param_mpc_z_vel_max_up.get()), // takeoff ramp starts with negative velocity limit
math::max(speed_down, 0.f));
@@ -466,7 +463,7 @@ void MulticopterPositionControl::Run()
failsafe(time_stamp_now, failsafe_setpoint, states, !was_in_failsafe);
// reset constraints
_vehicle_constraints = {0, NAN, NAN, NAN, false, {}};
_vehicle_constraints = {0, NAN, NAN, false, {}};
_control.setInputSetpoint(failsafe_setpoint);
_control.setVelocityLimits(_param_mpc_xy_vel_max.get(), _param_mpc_z_vel_max_up.get(), _param_mpc_z_vel_max_dn.get());