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FlightTaskManualStabilized: limit manual yaw rate in flighttask

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 03b3026e18
commit ab8527cc8f
2 changed files with 5 additions and 2 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+3 -1
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@@ -46,7 +46,8 @@ FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *pare
_tilt_max_man(parent, "MPC_MAN_TILT_MAX", false),
_throttle_min(parent, "MPC_THR_MIN", false),
_throttle_max(parent, "MPC_THR_MAX", false),
_throttle_hover(parent, "MPC_THR_HOVER", false)
_throttle_hover(parent, "MPC_THR_HOVER", false),
_yaw_rate_max(parent, "MPC_MAN_Y_MAX", false)
{}
bool FlightTaskManualStabilized::activate()
@@ -62,6 +63,7 @@ void FlightTaskManualStabilized::_scaleSticks()
/* Scale sticks to yaw and thrust using
* linear scale for yaw and piecewise linear map for thrust. */
_yaw_rate_sp = _sticks(3) * math::radians(_yaw_rate_scaling.get());
_yaw_rate_sp = math::sign(_yaw_rate_sp) * math::min(fabsf(_yaw_rate_sp), math::radians(_yaw_rate_max.get()));
_throttle = _throttleCurve();
}
src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
+2 -1
View File
@@ -69,5 +69,6 @@ private:
control::BlockParamFloat _tilt_max_man; /**< maximum tilt allowed for manual flight */
control::BlockParamFloat _throttle_min; /**< minimum throttle that always has to be satisfied in flight*/
control::BlockParamFloat _throttle_max; /**< maximum throttle that always has to be satisfied in flight*/
control::BlockParamFloat _throttle_hover; /**< yhrottle value at which vehicle is at hover equilibrium */
control::BlockParamFloat _throttle_hover; /**< throttle value at which vehicle is at hover equilibrium */
control::BlockParamFloat _yaw_rate_max; /** manual maximum yawspeed */
};