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PositionControl: make distinction for throttle minimum depending on mode

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This commit is contained in:
Dennis Mannhart
2018-03-01 17:23:25 +01:00
committed by Lorenz Meier
parent 59087afac8
commit 7f68417d19
2 changed files with 11 additions and 4 deletions
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src/modules/mc_pos_control/PositionControl.cpp
+7 -3
View File
@@ -65,7 +65,8 @@ PositionControl::PositionControl()
_VelMaxZup_h = param_find("MPC_Z_VEL_MAX_UP");
_ThrHover_h = param_find("MPC_THR_HOVER");
_ThrMax_h = param_find("MPC_THR_MAX");
_ThrMin_h = param_find("MPC_THR_MIN");
_ThrMinPosition_h = param_find("MPC_THR_MIN");
_ThrMinStab_h = param_find("MPC_MANTHR_MIN");
/* Set parameter the very first time. */
_setParams();
@@ -93,9 +94,11 @@ void PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &se
* controller and just return thrust.
*/
_skipController = false;
_ThrLimit[1] = _ThrMinPosition;
if (PX4_ISFINITE(setpoint.thrust[0]) && PX4_ISFINITE(setpoint.thrust[1]) && PX4_ISFINITE(setpoint.thrust[2])) {
_skipController = true;
_ThrLimit[1] = _ThrMinStab;
_pos_sp.zero();
_vel_sp.zero();
_acc_sp.zero();
@@ -333,6 +336,7 @@ void PositionControl::_setParams()
param_get(_VelMaxZdown_h, &_VelMaxZ.down);
param_get(_ThrHover_h, &_ThrHover);
param_get(_ThrMax_h, &_ThrustLimit.max);
param_get(_ThrMin_h, &_ThrustLimit.min);
param_get(_ThrMax_h, &_ThrLimit[0]);
param_get(_ThrMinPosition_h, &_ThrMinPosition);
param_get(_ThrMinStab_h, &_ThrMinStab);
}
src/modules/mc_pos_control/PositionControl.hpp
+4 -1
View File
@@ -111,7 +111,8 @@ private:
param_t _VelMaxZup_h{PARAM_INVALID};
param_t _ThrHover_h{PARAM_INVALID};
param_t _ThrMax_h{PARAM_INVALID};
param_t _ThrMin_h{PARAM_INVALID};
param_t _ThrMinPosition_h{PARAM_INVALID};
param_t _ThrMinStab_h{PARAM_INVALID};
/* Parameters */
matrix::Vector3f Pp, Pv, Iv, Dv = matrix::Vector3f{0.0f, 0.0f, 0.0f};
@@ -129,6 +130,8 @@ private:
float _ThrHover{0.5f};
float _ThrLimit[2]; //index 0: max, index 1: min
float _ThrMinPosition{0.0f}; // minimum throttle for any position controlled mode
float _ThrMinStab{0.0f}; // minimum throttle for stabilized
bool _skipController{false};
/* Helper methods */