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add parameters for adjusting ALTCTL deadband

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Mark Whitehorn 2016-01-15 15:49:24 -07:00 committed by tumbili
parent ead3eeda6c
commit 8cd4b57c6b
2 changed files with 37 additions and 6 deletions
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17
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -121,15 +121,12 @@ public:
int start();
private:
const float alt_ctl_dz = 0.05f;
const float alt_ctl_dy = 0.05f;
bool _task_should_exit; /**< if true, task should exit */
int _control_task; /**< task handle for task */
int _mavlink_fd; /**< mavlink fd */
int _vehicle_status_sub; /**< vehicle status subscription */
int _ctrl_state_sub; /**< control state subscription */
int _ctrl_state_sub; /**< control state subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _control_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< notification of parameter updates */
@ -168,6 +165,8 @@ private:
param_t thr_min;
param_t thr_max;
param_t thr_hover;
param_t alt_ctl_dz;
param_t alt_ctl_dy;
param_t z_p;
param_t z_vel_p;
param_t z_vel_i;
@ -201,6 +200,8 @@ private:
float thr_min;
float thr_max;
float thr_hover;
float alt_ctl_dz;
float alt_ctl_dy;
float tilt_max_air;
float land_speed;
float tko_speed;
@ -423,7 +424,9 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.thr_min = param_find("MPC_THR_MIN");
_params_handles.thr_max = param_find("MPC_THR_MAX");
_params_handles.thr_hover = param_find("MPC_THR_HOVER");
_params_handles.z_p = param_find("MPC_Z_P");
_params_handles.alt_ctl_dz = param_find("MPC_ALTCTL_DZ");
_params_handles.alt_ctl_dy = param_find("MPC_ALTCTL_DY");
_params_handles.z_p = param_find("MPC_Z_P");
_params_handles.z_vel_p = param_find("MPC_Z_VEL_P");
_params_handles.z_vel_i = param_find("MPC_Z_VEL_I");
_params_handles.z_vel_d = param_find("MPC_Z_VEL_D");
@ -498,6 +501,8 @@ MulticopterPositionControl::parameters_update(bool force)
param_get(_params_handles.thr_min, &_params.thr_min);
param_get(_params_handles.thr_max, &_params.thr_max);
param_get(_params_handles.thr_hover, &_params.thr_hover);
param_get(_params_handles.alt_ctl_dz, &_params.alt_ctl_dz);
param_get(_params_handles.alt_ctl_dy, &_params.alt_ctl_dy);
param_get(_params_handles.tilt_max_air, &_params.tilt_max_air);
_params.tilt_max_air = math::radians(_params.tilt_max_air);
param_get(_params_handles.land_speed, &_params.land_speed);
@ -756,7 +761,7 @@ MulticopterPositionControl::control_manual(float dt)
if (_control_mode.flag_control_altitude_enabled) {
/* set vertical velocity setpoint with throttle stick */
req_vel_sp(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz, alt_ctl_dy); // D
req_vel_sp(2) = -scale_control(_manual.z - 0.5f, 0.5f, _params.alt_ctl_dz, _params.alt_ctl_dy); // D
}
if (_control_mode.flag_control_position_enabled) {

26
src/modules/mc_pos_control/mc_pos_control_params.c
View File

@ -66,6 +66,32 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
*/
PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
/**
* ALTCTL throttle curve breakpoint
*
* Halfwidth of deadband or reduced sensitivity center portion of curve.
* This is the halfwidth of the center region of the ALTCTL throttle
* curve. It extends from center-dz to center+dz.
*
* @min 0.0
* @max 0.2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ALTCTL_DZ, 0.1f);
/**
* ALTCTL throttle curve breakpoint height
*
* Controls the slope of the reduced sensitivity region.
* This is the height of the ALTCTL throttle
* curve at center-dz and center+dz.
*
* @min 0.0
* @max 0.2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ALTCTL_DY, 0.0f);
/**
* Maximum thrust in auto thrust control
*