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FlightTaskOrbit: also use HeadingSmoothing to avoid steps during the approach

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Matthias Grob
2025-05-21 13:25:46 +02:00
parent 70ad2e6fe5
commit a8f5b6dc1b
2 changed files with 14 additions and 5 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+11 -4
View File
@@ -179,8 +179,8 @@ bool FlightTaskOrbit::activate(const trajectory_setpoint_s &last_setpoint)
_orbit_velocity = 1.f; _orbit_velocity = 1.f;
_center = _position; _center = _position;
_initial_heading = _yaw; _initial_heading = _yaw;
_slew_rate_yaw.setForcedValue(_yaw); _heading_smoothing.reset(PX4_ISFINITE(last_setpoint.yaw) ? last_setpoint.yaw : _yaw,
_slew_rate_yaw.setSlewRate(math::radians(_param_mpc_yawrauto_max.get())); PX4_ISFINITE(last_setpoint.yawspeed) ? last_setpoint.yawspeed : 0.f);
_slew_rate_velocity.setSlewRate(_param_mpc_acc_hor.get()); _slew_rate_velocity.setSlewRate(_param_mpc_acc_hor.get());
// need a valid position and velocity // need a valid position and velocity
@@ -238,7 +238,14 @@ bool FlightTaskOrbit::update()
} }
// Apply yaw smoothing // Apply yaw smoothing
_yaw_setpoint = _slew_rate_yaw.update(_yaw_setpoint, _deltatime); _heading_smoothing.setMaxHeadingRate(math::radians(_param_mpc_yawrauto_max.get()));
_heading_smoothing.setMaxHeadingAccel(math::radians(_param_mpc_yawrauto_acc.get()));
_heading_smoothing.update(_yaw_setpoint, _deltatime);
_yaw_setpoint = _heading_smoothing.getSmoothedHeading();
if (_in_circle_approach) { // don't override feed-forward which is already calculated for circling
_yawspeed_setpoint = _heading_smoothing.getSmoothedHeadingRate();
}
// publish information to UI // publish information to UI
sendTelemetry(); sendTelemetry();
@@ -362,7 +369,7 @@ void FlightTaskOrbit::_generate_circle_yaw_setpoints()
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_UNCONTROLLED: case orbit_status_s::ORBIT_YAW_BEHAVIOUR_UNCONTROLLED:
// no yaw setpoint // no yaw setpoint
_yaw_setpoint = NAN; _yaw_setpoint = NAN;
_yawspeed_setpoint = NAN; _yawspeed_setpoint = 0.f; // No yaw setpoint is invalid -> just brake to 0°/s
break; break;
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE: case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE:
src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
+3 -1
View File
@@ -45,6 +45,7 @@
#include <uORB/PublicationMulti.hpp> #include <uORB/PublicationMulti.hpp>
#include <uORB/topics/orbit_status.h> #include <uORB/topics/orbit_status.h>
#include <lib/slew_rate/SlewRateYaw.hpp> #include <lib/slew_rate/SlewRateYaw.hpp>
#include <lib/motion_planning/HeadingSmoothing.hpp>
#include <lib/motion_planning/PositionSmoothing.hpp> #include <lib/motion_planning/PositionSmoothing.hpp>
#include <lib/motion_planning/VelocitySmoothing.hpp> #include <lib/motion_planning/VelocitySmoothing.hpp>
#include <lib/slew_rate/SlewRate.hpp> #include <lib/slew_rate/SlewRate.hpp>
@@ -127,7 +128,7 @@ private:
bool _started_clockwise{true}; bool _started_clockwise{true};
bool _currently_orbiting{false}; bool _currently_orbiting{false};
float _initial_heading = 0.f; /**< the heading of the drone when the orbit command was issued */ float _initial_heading = 0.f; /**< the heading of the drone when the orbit command was issued */
SlewRateYaw<float> _slew_rate_yaw; HeadingSmoothing _heading_smoothing;
SlewRate<float> _slew_rate_velocity; SlewRate<float> _slew_rate_velocity;
orb_advert_t _mavlink_log_pub{nullptr}; orb_advert_t _mavlink_log_pub{nullptr};
@@ -138,6 +139,7 @@ private:
(ParamInt<px4::params::MC_ORBIT_YAW_MOD>) _param_mc_orbit_yaw_mod, (ParamInt<px4::params::MC_ORBIT_YAW_MOD>) _param_mc_orbit_yaw_mod,
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise, /**< cruise speed for circle approach */ (ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise, /**< cruise speed for circle approach */
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max, (ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
(ParamFloat<px4::params::MPC_YAWRAUTO_ACC>) _param_mpc_yawrauto_acc,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p, (ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::NAV_MC_ALT_RAD>) (ParamFloat<px4::params::NAV_MC_ALT_RAD>)
_param_nav_mc_alt_rad, //vertical acceptance radius at which waypoints are updated _param_nav_mc_alt_rad, //vertical acceptance radius at which waypoints are updated