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MC auto: add maximum RC assist distance during landing

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bresch
2023-03-22 10:03:48 +01:00
committed by Mathieu Bresciani
parent d6fa42fefd
commit c7bddda1db
6 changed files with 88 additions and 3 deletions
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src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
+2 -1
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@@ -75,7 +75,8 @@ void StickAccelerationXY::generateSetpoints(Vector2f stick_xy, const float yaw,
{
// maximum commanded acceleration and velocity
Vector2f acceleration_scale(_param_mpc_acc_hor.get(), _param_mpc_acc_hor.get());
Vector2f velocity_scale(_param_mpc_vel_manual.get(), _param_mpc_vel_manual.get());
const float velocity_sc = fminf(_param_mpc_vel_manual.get(), _velocity_constraint);
Vector2f velocity_scale(velocity_sc, velocity_sc);
acceleration_scale *= 2.f; // because of drag the average acceleration is half
src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp
+5
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@@ -60,6 +60,9 @@ public:
void generateSetpoints(matrix::Vector2f stick_xy, const float yaw, const float yaw_sp, const matrix::Vector3f &pos,
const matrix::Vector2f &vel_sp_feedback, const float dt);
void getSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, matrix::Vector3f &acc_sp);
float getMaxAcceleration() { return _param_mpc_acc_hor.get(); };
float getMaxJerk() { return _param_mpc_jerk_max.get(); };
void setVelocityConstraint(float vel) { _velocity_constraint = fmaxf(vel, FLT_EPSILON); };
private:
void applyJerkLimit(const float dt);
@@ -79,6 +82,8 @@ private:
matrix::Vector2f _acceleration_setpoint;
matrix::Vector2f _acceleration_setpoint_prev;
float _velocity_constraint{INFINITY};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
(ParamFloat<px4::params::MPC_VEL_MAN_SIDE>) _param_mpc_vel_man_side,