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FlightTasks: do not adjust tilt limit of the position control

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Adjusting the tilt limit can lead to diverging position control
and should only be used by setting a sanity limit for the controller
and not to adjust during the descent phase of a Land or RTL.
Otherwise it leads to flyaways in important failsafe modes when
there's stronger disturbance e.g. wind.
This commit is contained in:
Matthias Grob 2020-04-19 13:01:57 +02:00 committed by Lorenz Meier
parent 95779ea670
commit 809b45eac8
6 changed files with 4 additions and 13 deletions
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6
src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
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@ -127,14 +127,10 @@ void FlightTaskAutoMapper::_prepareIdleSetpoints()
void FlightTaskAutoMapper::_prepareLandSetpoints()
{
float land_speed = _getLandSpeed();
// Keep xy-position and go down with landspeed
float land_speed = _getLandSpeed();
_position_setpoint = Vector3f(_target(0), _target(1), NAN);
_velocity_setpoint = Vector3f(Vector3f(NAN, NAN, land_speed));
// set constraints
_constraints.tilt = math::radians(_param_mpc_tiltmax_lnd.get());
_gear.landing_gear = landing_gear_s::GEAR_DOWN;
}

2
src/lib/flight_tasks/tasks/FlightTask/FlightTask.cpp
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@ -181,7 +181,7 @@ void FlightTask::_setDefaultConstraints()
_constraints.speed_xy = _param_mpc_xy_vel_max.get();
_constraints.speed_up = _param_mpc_z_vel_max_up.get();
_constraints.speed_down = _param_mpc_z_vel_max_dn.get();
_constraints.tilt = math::radians(_param_mpc_tiltmax_air.get());
_constraints.tilt = NAN;
_constraints.min_distance_to_ground = NAN;
_constraints.max_distance_to_ground = NAN;
_constraints.want_takeoff = false;

3
src/lib/flight_tasks/tasks/FlightTask/FlightTask.hpp
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@ -260,7 +260,6 @@ protected:
DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams,
(ParamFloat<px4::params::MPC_XY_VEL_MAX>) _param_mpc_xy_vel_max,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up,
(ParamFloat<px4::params::MPC_TILTMAX_AIR>) _param_mpc_tiltmax_air
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up
)
};

2
src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
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@ -60,8 +60,6 @@ bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s last_s
_velocity_setpoint(2) = 0.f;
_setDefaultConstraints();
_constraints.tilt = math::radians(_param_mpc_man_tilt_max.get());
_updateConstraintsFromEstimator();
_max_speed_up = _constraints.speed_up;

2
src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
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@ -61,8 +61,6 @@ bool FlightTaskManualPosition::activate(vehicle_local_position_setpoint_s last_s
// all requirements from altitude-mode still have to hold
bool ret = FlightTaskManualAltitude::activate(last_setpoint);
_constraints.tilt = math::radians(_param_mpc_tiltmax_air.get());
// set task specific constraint
if (_constraints.speed_xy >= _param_mpc_vel_manual.get()) {
_constraints.speed_xy = _param_mpc_vel_manual.get();

2
src/modules/mc_pos_control/PositionControl/PositionControl.hpp
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@ -109,7 +109,7 @@ public:
/**
* Set the maximum tilt angle in radians the output attitude is allowed to have
* @param tilt angle from level orientation in radians
* @param tilt angle in radians from level orientation
*/
void setTiltLimit(const float tilt) { _lim_tilt = tilt; }