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FlightTasks: adapt to acceleration based control

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This commit is contained in:
Matthias Grob
2020-03-30 09:58:39 +02:00
parent b3d7445059
commit b79b095ce7
10 changed files with 38 additions and 37 deletions
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src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
+2 -2
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@@ -64,7 +64,7 @@ void FlightTaskTransition::updateAccelerationEstimate()
{
// Estimate the acceleration by filtering the raw derivative of the velocity estimate
// This is done to provide a good estimate of the current acceleration to the next flight task after back-transition
_acceleration_setpoint = 0.9f * _acceleration_setpoint + 0.1f * (_velocity - _velocity_prev) / _deltatime;
_acceleration_setpoint = .9f * _acceleration_setpoint + .1f * (_velocity - _velocity_prev) / _deltatime;
if (!PX4_ISFINITE(_acceleration_setpoint(0)) ||
!PX4_ISFINITE(_acceleration_setpoint(1)) ||
@@ -79,7 +79,7 @@ bool FlightTaskTransition::update()
{
// level wings during the transition, altitude should be controlled
_position_setpoint(2) = _transition_altitude;
_thrust_setpoint.xy() = matrix::Vector2f(0.f, 0.f);
_acceleration_setpoint.xy() = matrix::Vector2f(0.f, 0.f);
updateAccelerationEstimate();