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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
2020-04-21 09:35:52 +02:00
committed by Lorenz Meier
parent 95779ea670
commit 809b45eac8
6 changed files with 4 additions and 13 deletions
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src/lib/flight_tasks/tasks/FlightTask/FlightTask.cpp
+1 -1
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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;
src/lib/flight_tasks/tasks/FlightTask/FlightTask.hpp
+1 -2
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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
)
};