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FlightTaskManualAltitude: vertical velocity limit interface

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This commit is contained in:
Matthias Grob
2023-08-14 16:40:42 +02:00
parent bb617f6c4d
commit 84220407ea
2 changed files with 6 additions and 2 deletions
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src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+3 -2
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@@ -92,8 +92,9 @@ void FlightTaskManualAltitude::_updateConstraintsFromEstimator()
void FlightTaskManualAltitude::_scaleSticks()
{
// Use sticks input with deadzone and exponential curve for vertical velocity
const float vel_max_z = (_sticks.getPosition()(2) > 0.0f) ? _param_mpc_z_vel_max_dn.get() :
_param_mpc_z_vel_max_up.get();
const float vel_max_up = fminf(_param_mpc_z_vel_max_up.get(), _velocity_constraint_up);
const float vel_max_down = fminf(_param_mpc_z_vel_max_dn.get(), _velocity_constraint_down);
const float vel_max_z = (_sticks.getPosition()(2) > 0.0f) ? vel_max_down : vel_max_up;
_velocity_setpoint(2) = vel_max_z * _sticks.getPositionExpo()(2);
}
src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
+3
View File
@@ -75,6 +75,9 @@ protected:
bool _sticks_data_required = true; ///< let inherited task-class define if it depends on stick data
bool _terrain_hold{false}; /**< true when vehicle is controlling height above a static ground position */
float _velocity_constraint_up{INFINITY};
float _velocity_constraint_down{INFINITY};
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
(ParamFloat<px4::params::MPC_HOLD_MAX_Z>) _param_mpc_hold_max_z,
(ParamInt<px4::params::MPC_ALT_MODE>) _param_mpc_alt_mode,