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Parameter update - Rename variables in lib

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using paramter_update.py script
This commit is contained in:
bresch
2019-04-03 15:38:50 +02:00
committed by Matthias Grob
parent ec5da55107
commit b14446f0e5
40 changed files with 245 additions and 231 deletions
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src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+14 -13
View File
@@ -67,7 +67,7 @@ void FlightTaskAutoLineSmoothVel::_setDefaultConstraints()
{
FlightTaskAuto::_setDefaultConstraints();
_constraints.speed_xy = MPC_XY_VEL_MAX.get(); // TODO : Should be computed using heading
_constraints.speed_xy = _param_mpc_xy_vel_max.get(); // TODO : Should be computed using heading
}
void FlightTaskAutoLineSmoothVel::_generateSetpoints()
@@ -166,8 +166,9 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
Vector2f closest_pt = Vector2f(_prev_wp) + u_prev_to_dest * (prev_to_pos * u_prev_to_dest);
Vector2f u_pos_traj_to_dest_xy(Vector2f(pos_traj_to_dest).unit_or_zero());
float speed_sp_track = Vector2f(pos_traj_to_dest).length() * MPC_XY_TRAJ_P.get();
float speed_sp_track = Vector2f(pos_traj_to_dest).length() * _param_mpc_xy_traj_p.get();
speed_sp_track = math::constrain(speed_sp_track, 0.0f, _mc_cruise_speed);
Vector2f vel_sp_xy = u_pos_traj_to_dest_xy * speed_sp_track;
for (int i = 0; i < 2; i++) {
@@ -180,14 +181,14 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
}
_velocity_setpoint(i) += (closest_pt(i) - _trajectory[i].getCurrentPosition()) *
MPC_XY_TRAJ_P.get(); // Along-track setpoint + cross-track P controller
_param_mpc_xy_traj_p.get(); // Along-track setpoint + cross-track P controller
}
}
if (PX4_ISFINITE(_position_setpoint(2))) {
const float vel_sp_z = (_position_setpoint(2) - _trajectory[2].getCurrentPosition()) *
MPC_Z_TRAJ_P.get(); // Generate a velocity target for the trajectory using a simple P loop
_param_mpc_z_traj_p.get(); // Generate a velocity target for the trajectory using a simple P loop
// If available, constrain the velocity using _velocity_setpoint(.)
if (PX4_ISFINITE(_velocity_setpoint(2))) {
@@ -203,21 +204,21 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
void FlightTaskAutoLineSmoothVel::_updateTrajConstraints()
{
// Update the constraints of the trajectories
_trajectory[0].setMaxAccel(MPC_ACC_HOR_MAX.get()); // TODO : Should be computed using heading
_trajectory[1].setMaxAccel(MPC_ACC_HOR_MAX.get());
_trajectory[0].setMaxAccel(_param_mpc_acc_hor_max.get()); // TODO : Should be computed using heading
_trajectory[1].setMaxAccel(_param_mpc_acc_hor_max.get());
_trajectory[0].setMaxVel(_constraints.speed_xy);
_trajectory[1].setMaxVel(_constraints.speed_xy);
_trajectory[0].setMaxJerk(MPC_JERK_MIN.get()); // TODO : Should be computed using heading
_trajectory[1].setMaxJerk(MPC_JERK_MIN.get());
_trajectory[2].setMaxJerk(MPC_JERK_MIN.get());
_trajectory[0].setMaxJerk(_param_mpc_jerk_min.get()); // TODO : Should be computed using heading
_trajectory[1].setMaxJerk(_param_mpc_jerk_min.get());
_trajectory[2].setMaxJerk(_param_mpc_jerk_min.get());
if (_velocity_setpoint(2) < 0.f) { // up
_trajectory[2].setMaxAccel(MPC_ACC_UP_MAX.get());
_trajectory[2].setMaxVel(MPC_Z_VEL_MAX_UP.get());
_trajectory[2].setMaxAccel(_param_mpc_acc_up_max.get());
_trajectory[2].setMaxVel(_param_mpc_z_vel_max_up.get());
} else { // down
_trajectory[2].setMaxAccel(MPC_ACC_DOWN_MAX.get());
_trajectory[2].setMaxVel(MPC_Z_VEL_MAX_DN.get());
_trajectory[2].setMaxAccel(_param_mpc_acc_down_max.get());
_trajectory[2].setMaxVel(_param_mpc_z_vel_max_dn.get());
}
}
src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
+8 -8
View File
@@ -55,14 +55,14 @@ public:
protected:
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper2,
(ParamFloat<px4::params::MIS_YAW_ERR>) MIS_YAW_ERR, // yaw-error threshold
(ParamFloat<px4::params::MPC_ACC_HOR>) MPC_ACC_HOR, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) MPC_ACC_UP_MAX,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX,
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) MPC_ACC_HOR_MAX,
(ParamFloat<px4::params::MPC_JERK_MIN>) MPC_JERK_MIN,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) MPC_XY_TRAJ_P,
(ParamFloat<px4::params::MPC_Z_TRAJ_P>) MPC_Z_TRAJ_P
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
(ParamFloat<px4::params::MPC_JERK_MIN>) _param_mpc_jerk_min,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::MPC_Z_TRAJ_P>) _param_mpc_z_traj_p
);
void _generateSetpoints() override; /**< Generate setpoints along line. */