mc_pos_control auto: apply auto logic for z-direction

2026-10-03 16:28:53 +08:00 · 2017-09-11 02:08:22 -07:00
parent 2655c72cea
commit b769d1cee0
1 changed files with 87 additions and 0 deletions
@@ -1492,6 +1492,93 @@ void MulticopterPositionControl::control_auto(float dt)
 			/* by default use current setpoint as is */
 			math::Vector<3> pos_sp = _curr_pos_sp;

+			/*
+			 * Z-DIRECTION
+			 */
+
+			/* get various distances */
+			float total_dist_z = fabsf(_curr_pos_sp(2) - _prev_pos_sp(2));
+			float dist_to_prev_z = fabsf(_pos(2) - _prev_pos_sp(2));
+			float dist_to_current_z = fabsf(_curr_pos_sp(2) - _pos(2));
+
+			/* if pos_sp has not reached target setpoint (=curr_pos_sp(2)),
+			 * then compute setpoint depending on vel_max */
+			if ((total_dist_z >  SIGMA_NORM) && (fabsf(_pos_sp(2) - _curr_pos_sp(2)) > SIGMA_NORM)) {
+
+				/* check sign */
+				bool flying_upward = _curr_pos_sp(2) < _prev_pos_sp(2);
+
+				/* final_vel_z is the max velocity which depends on the distance of total_dist_z
+				 * with default params.vel_max_up/down
+				 */
+				float final_vel_z = (flying_upward) ? _params.vel_max_up : _params.vel_max_down;
+
+				/* target threshold defines the distance to _curr_pos_sp(2) at which
+				 * the vehicle starts to slow down to approach the target smoothly
+				 */
+				float target_threshold_z = final_vel_z * 1.5f;
+
+				/* if the total distance in z is NOT 2x distance of target_threshold, we
+				 * will need to adjust the final_vel_z
+				 */
+				bool is_2_target_threshold_z = total_dist_z >= 2.0f * target_threshold_z;
+				float slope = (final_vel_z) / (target_threshold_z); /* defines the the acceleration when slowing down */
+				float min_vel_z = 0.2f; // minimum velocity: this is needed since estimation is not perfect
+
+				if (!is_2_target_threshold_z) {
+					/* adjust final_vel_z since we are already very close
+					 * to current and therefore it is not necessary to accelerate
+					 * up to full speed (=final_vel_z)
+					 */
+
+					target_threshold_z = total_dist_z * 0.5f;
+					/* get the velocity at target_threshold_z */
+					float final_vel_z_tmp = slope * (target_threshold_z) + min_vel_z;
+
+					/* make sure that final_vel_z is never smaller than 0.5 of the default final_vel_z
+					 * this is mainly done because the estimation in z is not perfect and therefore
+					 * it is necessary to have a minimum speed
+					 */
+					final_vel_z = math::constrain(final_vel_z_tmp, final_vel_z * 0.5f, final_vel_z);
+				}
+
+				float vel_sp_z = final_vel_z;
+
+				/* we want to slow down */
+				if (dist_to_current_z < target_threshold_z) {
+
+					vel_sp_z = slope * dist_to_current_z + min_vel_z;
+
+				} else if (dist_to_prev_z < target_threshold_z) {
+					/* we want to accelerate */
+
+					float acc_z = fabsf(vel_sp_z - _vel_sp_prev(2)) / dt;
+
+					if (acc_z > _acceleration_z_max_up.get()) {
+						vel_sp_z = _acceleration_z_max_up.get() * dt + fabsf(_vel_sp_prev(2));
+					}
+				}
+
+				/* if we already close to current, then just take over the velocity that
+				 * we would have computed if going directly to the current setpoint
+				 */
+				if (vel_sp_z >= (dist_to_current_z * _params.pos_p(2))) {
+					vel_sp_z = dist_to_current_z * _params.pos_p(2);
+				}
+
+				/* make sure vel_sp_z is always positive */
+				vel_sp_z = math::constrain(vel_sp_z, 0.0f, final_vel_z);
+				/* get the sign of vel_sp_z */
+				vel_sp_z = (flying_upward) ? -vel_sp_z : vel_sp_z;
+				/* compute pos_sp(2) */
+				pos_sp(2) = _pos(2) + vel_sp_z / _params.pos_p(2);
+
+			}
+
+			/*
+			 * XY-DIRECTION
+			 */
+
 			/* line from previous to current and from pos to current */
 			matrix::Vector2f vec_prev_to_current((_curr_pos_sp(0) - _prev_pos_sp(0)), (_curr_pos_sp(1) - _prev_pos_sp(1)));
 			matrix::Vector2f vec_pos_to_current((_curr_pos_sp(0) - _pos(0)), (_curr_pos_sp(1) - _pos(1)));