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MulticopterPositionControl: fix twitch on tilt limit relaxation

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This commit is contained in:
Matthias Grob
2021-03-22 14:42:36 +01:00
parent 34a5948692
commit 94469d84ae
3 changed files with 9 additions and 8 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
+6 -8
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@@ -49,12 +49,9 @@ MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
_vel_y_deriv(this, "VELD"),
_vel_z_deriv(this, "VELD")
{
// fetch initial parameter values
parameters_update(true);
// set failsafe hysteresis
_failsafe_land_hysteresis.set_hysteresis_time_from(false, LOITER_TIME_BEFORE_DESCEND);
_tilt_limit_slew_rate.setSlewRate(.2f);
reset_setpoint_to_nan(_setpoint);
}
@@ -378,13 +375,14 @@ void MulticopterPositionControl::Run()
}
// limit tilt during takeoff ramupup
if (_takeoff.getTakeoffState() < TakeoffState::flight) {
_control.setTiltLimit(math::radians(_param_mpc_tiltmax_lnd.get()));
float tilt_limit = math::radians(_param_mpc_tiltmax_air.get());
} else {
_control.setTiltLimit(math::radians(_param_mpc_tiltmax_air.get()));
if (_takeoff.getTakeoffState() < TakeoffState::flight) {
tilt_limit = math::radians(_param_mpc_tiltmax_lnd.get());
}
_control.setTiltLimit(_tilt_limit_slew_rate.update(tilt_limit, dt));
const float speed_up = _takeoff.updateRamp(dt,
PX4_ISFINITE(_vehicle_constraints.speed_up) ? _vehicle_constraints.speed_up : _param_mpc_z_vel_max_up.get());
const float speed_down = PX4_ISFINITE(_vehicle_constraints.speed_down) ? _vehicle_constraints.speed_down :