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Add jerk parameter for auto mode MPC_JERK_AUTO. Specify when a parameter is only used in a certain manual or auto mode

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bresch
2019-05-14 08:49:39 +02:00
committed by Matthias Grob
parent 011aef5464
commit b726d8df0d
3 changed files with 33 additions and 8 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+29 -4
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@@ -87,7 +87,7 @@ PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
* (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the
* upper half of the stick range).
*
* Note: in case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.
* Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.
*
* @value 0 Rescale to hover thrust
* @value 1 No Rescale
@@ -427,7 +427,10 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);
PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
/**
* Maximum horizontal acceleration for auto mode and maximum deceleration for manual mode
* Maximum horizontal acceleration for auto mode and for manual mode
*
* Manual mode: Maximum deceleration for MPC_POS_MODE 1 and 2. Maximum acceleration and deceleration for MPC_POS_MODE 3.
* Auto mode: Used with MPC_AUTO_MODE 0 only. For MPC_AUTO_MODE 1, MPC_ACC_HOR is always used.
*
* @unit m/s/s
* @min 2.0
@@ -441,6 +444,8 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f);
/**
* Acceleration for auto and for manual
*
* Note: In manual, this parameter is only used in MPC_POS_MODE 1 and 2
*
* @unit m/s/s
* @min 2.0
* @max 15.0
@@ -454,6 +459,8 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 5.0f);
/**
* Slow horizontal manual deceleration for manual mode
*
* Note: This is only used when MPC_POS_MODE is set to 1 or 2.
*
* @unit m/s/s
* @min 0.5
* @max 10.0
@@ -511,7 +518,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 10.0f);
*
* Setting this to the maximum value essentially disables the limit.
*
* Note: this is only used when MPC_POS_MODE is set to a smoothing mode.
* Note: This is only used when MPC_POS_MODE is set to a smoothing mode.
*
* @unit m/s/s/s
* @min 0.5
@@ -534,7 +541,7 @@ PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 20.0f);
*
* Set this to zero to use a fixed maximum jerk limit (MPC_JERK_MAX).
*
* Note: this is only used when MPC_POS_MODE is set to a smoothing mode.
* Note: This is only used when MPC_POS_MODE is set to 1 or 2.
*
* @unit m/s/s/s
* @min 0
@@ -545,6 +552,24 @@ PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 20.0f);
*/
PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 8.0f);
/**
* Jerk limit in auto mode
*
* Limit the maximum jerk of the vehicle (how fast the acceleration can change).
* A lower value leads to smoother vehicle motions, but it also limits its
* agility.
*
* Note: This is only used in jerk-limited trajectory mode (MPC_AUTO_MODE 1)
*
* @unit m/s/s/s
* @min 5.0
* @max 80.0
* @increment 1
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 8.0f);
/**
* Altitude control mode.
*