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mc_pos_control: separate parameter metadata into multiple files
because the original file was almost 1k lines and the order of parameters more historical than after topic.
This commit is contained in:
Matthias Grob
@@ -1,898 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
|
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*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
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****************************************************************************/
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||||
/**
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||||
* @file mc_pos_control_params.c
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||||
* Multicopter position controller parameters.
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||||
*
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||||
* @author Anton Babushkin <anton@px4.io>
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||||
*/
|
||||
|
||||
/**
|
||||
* Minimum collective thrust in auto thrust control
|
||||
*
|
||||
* It's recommended to set it > 0 to avoid free fall with zero thrust.
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* Note: Without airmode zero thrust leads to zero roll/pitch control authority. (see MC_AIRMODE)
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||||
*
|
||||
* @unit norm
|
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* @min 0.05
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||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
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||||
|
||||
/**
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||||
* Hover thrust
|
||||
*
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||||
* Vertical thrust required to hover.
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||||
* This value is mapped to center stick for manual throttle control.
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* With this value set to the thrust required to hover, transition
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* from manual to Altitude or Position mode while hovering will occur with the
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* throttle stick near center, which is then interpreted as (near)
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||||
* zero demand for vertical speed.
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*
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* This parameter is also important for the landing detection to work correctly.
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*
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* @unit norm
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* @min 0.1
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* @max 0.8
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* @decimal 2
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* @increment 0.01
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
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/**
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* Hover thrust source selector
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*
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* Set false to use the fixed parameter MPC_THR_HOVER
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||||
* Set true to use the value computed by the hover thrust estimator
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*
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* @boolean
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* @group Multicopter Position Control
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*/
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||||
PARAM_DEFINE_INT32(MPC_USE_HTE, 1);
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/**
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* Thrust curve in Manual Mode
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*
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* This parameter defines how the throttle stick input is mapped to commanded thrust
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* in Manual/Stabilized flight mode.
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*
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* In case the default is used ('Rescale to hover thrust'), the stick input is linearly
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* rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER).
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*
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* Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful
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* in case the hover thrust is very low and the default would lead to too much distortion
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* (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the
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* upper half of the stick range).
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*
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* Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.
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*
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* @value 0 Rescale to hover thrust
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* @value 1 No Rescale
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_INT32(MPC_THR_CURVE, 0);
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/**
|
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* Horizontal thrust margin
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*
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* Margin that is kept for horizontal control when prioritizing vertical thrust.
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* To avoid completely starving horizontal control with high vertical error.
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*
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* @unit norm
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* @min 0.0
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* @max 0.5
|
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* @decimal 2
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* @increment 0.01
|
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* @group Multicopter Position Control
|
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*/
|
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PARAM_DEFINE_FLOAT(MPC_THR_XY_MARG, 0.3f);
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|
||||
/**
|
||||
* Maximum thrust in auto thrust control
|
||||
*
|
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* Limit max allowed thrust
|
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*
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* @unit norm
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
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||||
* @increment 0.01
|
||||
* @group Multicopter Position Control
|
||||
*/
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PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
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|
||||
/**
|
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* Minimum manual thrust
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*
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* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
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* With MC_AIRMODE set to 1, this can safely be set to 0.
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*
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* @unit norm
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* @min 0.0
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* @max 1.0
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* @decimal 2
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||||
* @increment 0.01
|
||||
* @group Multicopter Position Control
|
||||
*/
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PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
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|
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/**
|
||||
* Proportional gain for vertical position error
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*
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* @min 0.0
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* @max 1.5
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* @decimal 2
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* @group Multicopter Position Control
|
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
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|
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/**
|
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* Proportional gain for vertical velocity error
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m/s velocity error
|
||||
*
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||||
* @min 2.0
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* @max 15.0
|
||||
* @decimal 2
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||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f);
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|
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/**
|
||||
* Integral gain for vertical velocity error
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m velocity integral
|
||||
*
|
||||
* Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
|
||||
*
|
||||
* @min 0.2
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||||
* @max 3.0
|
||||
* @decimal 3
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f);
|
||||
|
||||
/**
|
||||
* Differential gain for vertical velocity error
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 2.0
|
||||
* @decimal 3
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.0f);
|
||||
|
||||
/**
|
||||
* Automatic ascent velocity
|
||||
*
|
||||
* Ascent velocity in auto modes.
|
||||
* For manual modes and offboard, see MPC_Z_VEL_MAX_UP
|
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*
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* @unit m/s
|
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* @min 0.5
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||||
* @max 8.0
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* @increment 0.1
|
||||
* @decimal 1
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||||
* @group Multicopter Position Control
|
||||
*/
|
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PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f);
|
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|
||||
/**
|
||||
* Maximum ascent velocity
|
||||
*
|
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* Ascent velocity in manual modes and offboard.
|
||||
* For auto modes, see MPC_Z_V_AUTO_UP
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.5
|
||||
* @max 8.0
|
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* @increment 0.1
|
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* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
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|
||||
/**
|
||||
* Automatic descent velocity
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||||
*
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* Descent velocity in auto modes.
|
||||
* For manual modes and offboard, see MPC_Z_VEL_MAX_DN
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*
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||||
* @unit m/s
|
||||
* @min 0.5
|
||||
* @max 4.0
|
||||
* @increment 0.1
|
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* @decimal 1
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* @group Multicopter Position Control
|
||||
*/
|
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PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
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|
||||
/**
|
||||
* Maximum descent velocity
|
||||
*
|
||||
* Descent velocity in manual modes and offboard.
|
||||
* For auto modes, see MPC_Z_V_AUTO_DN
|
||||
*
|
||||
* @unit m/s
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||||
* @min 0.5
|
||||
* @max 4.0
|
||||
* @increment 0.1
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
|
||||
|
||||
/**
|
||||
* Proportional gain for horizontal position error
|
||||
*
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||||
* @min 0.0
|
||||
* @max 2.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);
|
||||
|
||||
/**
|
||||
* Proportional gain for horizontal velocity error
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m/s velocity error
|
||||
*
|
||||
* @min 1.2
|
||||
* @max 5.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f);
|
||||
|
||||
/**
|
||||
* Integral gain for horizontal velocity error
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m velocity integral
|
||||
* Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 60.0
|
||||
* @decimal 3
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I_ACC, 0.4f);
|
||||
|
||||
/**
|
||||
* Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
|
||||
*
|
||||
* @min 0.1
|
||||
* @max 2.0
|
||||
* @decimal 3
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D_ACC, 0.2f);
|
||||
|
||||
/**
|
||||
* Default horizontal velocity in mission
|
||||
*
|
||||
* Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 3.0
|
||||
* @max 20.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
|
||||
|
||||
/**
|
||||
* Proportional gain for horizontal trajectory position error
|
||||
*
|
||||
* @min 0.1
|
||||
* @max 1.0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
|
||||
|
||||
/**
|
||||
* Maximum horizontal error allowed by the trajectory generator
|
||||
*
|
||||
* The integration speed of the trajectory setpoint is linearly
|
||||
* reduced with the horizontal position tracking error. When the
|
||||
* error is above this parameter, the integration of the
|
||||
* trajectory is stopped to wait for the drone.
|
||||
*
|
||||
* This value can be adjusted depending on the tracking
|
||||
* capabilities of the vehicle.
|
||||
*
|
||||
* @min 0.1
|
||||
* @max 10.0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f);
|
||||
|
||||
/**
|
||||
* Maximum horizontal velocity setpoint in Position mode
|
||||
*
|
||||
* If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
|
||||
* the setpoint will be capped to MPC_XY_VEL_MAX
|
||||
*
|
||||
* The maximum sideways and backward speed can be set differently
|
||||
* using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 3.0
|
||||
* @max 20.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f);
|
||||
|
||||
/**
|
||||
* Maximum sideways velocity in Position mode
|
||||
*
|
||||
* If set to a negative value or larger than
|
||||
* MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min -1.0
|
||||
* @max 20.0
|
||||
* @increment 0.1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.0f);
|
||||
|
||||
/**
|
||||
* Maximum backward velocity in Position mode
|
||||
*
|
||||
* If set to a negative value or larger than
|
||||
* MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min -1.0
|
||||
* @max 20.0
|
||||
* @increment 0.1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.0f);
|
||||
|
||||
/**
|
||||
* Maximum horizontal velocity
|
||||
*
|
||||
* Maximum horizontal velocity in AUTO mode. If higher speeds
|
||||
* are commanded in a mission they will be capped to this velocity.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.0
|
||||
* @max 20.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
|
||||
|
||||
/**
|
||||
* Maximum tilt angle in air
|
||||
*
|
||||
* Limits maximum tilt in AUTO and POSCTRL modes during flight.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 20.0
|
||||
* @max 89.0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
|
||||
|
||||
/**
|
||||
* Maximum tilt during landing
|
||||
*
|
||||
* Limits maximum tilt angle on landing.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 10.0
|
||||
* @max 89.0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
|
||||
|
||||
/**
|
||||
* Landing descend rate
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.6
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
|
||||
|
||||
/**
|
||||
* Land crawl descend rate
|
||||
*
|
||||
* Used below MPC_LAND_ALT3 if distance sensor data is availabe.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.1
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_CRWL, 0.3f);
|
||||
|
||||
/**
|
||||
* Enable user assisted descent for autonomous land routine
|
||||
*
|
||||
* When enabled, descent speed will be:
|
||||
* stick full up - 0
|
||||
* stick centered - MPC_LAND_SPEED
|
||||
* stick full down - 2 * MPC_LAND_SPEED
|
||||
*
|
||||
* Additionally, the vehicle can be yawed and moved laterally using the other sticks.
|
||||
* Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @value 0 Fixed descent speed of MPC_LAND_SPEED
|
||||
* @value 1 User assisted descent speed
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0);
|
||||
|
||||
/**
|
||||
* User assisted landing radius
|
||||
*
|
||||
* When user assisted descent is enabled (see MPC_LAND_RC_HELP),
|
||||
* this parameter controls the maximum position adjustment
|
||||
* allowed from the original landing point.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_RADIUS, 1000.f);
|
||||
|
||||
/**
|
||||
* Takeoff climb rate
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 1
|
||||
* @max 5
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
|
||||
|
||||
/**
|
||||
* Maximal tilt angle in manual or altitude mode
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0.0
|
||||
* @max 90.0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
|
||||
|
||||
/**
|
||||
* Max manual yaw rate
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 400
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f);
|
||||
|
||||
/**
|
||||
* Manual yaw rate input filter time constant
|
||||
*
|
||||
* Setting this parameter to 0 disables the filter
|
||||
*
|
||||
* @unit s
|
||||
* @min 0.0
|
||||
* @max 5.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f);
|
||||
|
||||
/**
|
||||
* Deadzone of sticks where position hold is enabled
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
|
||||
|
||||
/**
|
||||
* Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.0
|
||||
* @max 3.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);
|
||||
|
||||
/**
|
||||
* Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.0
|
||||
* @max 3.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);
|
||||
|
||||
/**
|
||||
* Low pass filter cut freq. for numerical velocity derivative
|
||||
*
|
||||
* @unit Hz
|
||||
* @min 0.0
|
||||
* @max 10
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
|
||||
|
||||
/**
|
||||
* Maximum horizontal acceleration for auto mode and for manual mode
|
||||
*
|
||||
* MPC_POS_MODE
|
||||
* 1 just deceleration
|
||||
* 3 acceleration and deceleration
|
||||
* 4 just acceleration
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 2.0
|
||||
* @max 15.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
|
||||
|
||||
/**
|
||||
* Acceleration for auto and for manual
|
||||
*
|
||||
* Note: In manual, this parameter is only used in MPC_POS_MODE 4.
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 2.0
|
||||
* @max 15.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
|
||||
PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
|
||||
|
||||
/**
|
||||
* Maximum vertical acceleration in velocity controlled modes upward
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 2.0
|
||||
* @max 15.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.0f);
|
||||
|
||||
/**
|
||||
* Maximum vertical acceleration in velocity controlled modes down
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 2.0
|
||||
* @max 15.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
|
||||
|
||||
/**
|
||||
* Maximum jerk limit
|
||||
*
|
||||
* 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 (how fast it can change directions or break).
|
||||
*
|
||||
* 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 3 or 4.
|
||||
*
|
||||
* @unit m/s^3
|
||||
* @min 0.5
|
||||
* @max 500.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 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.
|
||||
*
|
||||
* @unit m/s^3
|
||||
* @min 1.0
|
||||
* @max 80.0
|
||||
* @increment 1
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
|
||||
|
||||
/**
|
||||
* Altitude control mode.
|
||||
*
|
||||
* Set to 0 to control height relative to the earth frame origin. This origin may move up and down in
|
||||
* flight due to sensor drift.
|
||||
* Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down
|
||||
* with terrain height variation. Requires a distance to ground sensor. The height controller will
|
||||
* revert to using height above origin if the distance to ground estimate becomes invalid as indicated
|
||||
* by the local_position.distance_bottom_valid message being false.
|
||||
* Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative
|
||||
* to earth frame origin when moving horizontally.
|
||||
* The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.
|
||||
*
|
||||
* @min 0
|
||||
* @max 2
|
||||
* @value 0 Altitude following
|
||||
* @value 1 Terrain following
|
||||
* @value 2 Terrain hold
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
|
||||
|
||||
/**
|
||||
* Manual position control stick exponential curve sensitivity
|
||||
*
|
||||
* The higher the value the less sensitivity the stick has around zero
|
||||
* while still reaching the maximum value with full stick deflection.
|
||||
*
|
||||
* 0 Purely linear input curve (default)
|
||||
* 1 Purely cubic input curve
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.6f);
|
||||
|
||||
/**
|
||||
* Manual control stick vertical exponential curve
|
||||
*
|
||||
* The higher the value the less sensitivity the stick has around zero
|
||||
* while still reaching the maximum value with full stick deflection.
|
||||
*
|
||||
* 0 Purely linear input curve (default)
|
||||
* 1 Purely cubic input curve
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.6f);
|
||||
|
||||
/**
|
||||
* Manual control stick yaw rotation exponential curve
|
||||
*
|
||||
* The higher the value the less sensitivity the stick has around zero
|
||||
* while still reaching the maximum value with full stick deflection.
|
||||
*
|
||||
* 0 Purely linear input curve (default)
|
||||
* 1 Purely cubic input curve
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.6f);
|
||||
|
||||
/**
|
||||
* Max yaw rate in auto mode
|
||||
*
|
||||
* Limit the rate of change of the yaw setpoint in autonomous mode
|
||||
* to avoid large control output and mixer saturation.
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 360.0
|
||||
* @decimal 1
|
||||
* @increment 5
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
|
||||
|
||||
/**
|
||||
* Altitude for 1. step of slow landing (descend)
|
||||
*
|
||||
* Below this altitude descending velocity gets limited to a value
|
||||
* between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED"
|
||||
* Value needs to be higher than "MPC_LAND_ALT2"
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @max 122
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f);
|
||||
|
||||
/**
|
||||
* Altitude for 2. step of slow landing (landing)
|
||||
*
|
||||
* Below this altitude descending velocity gets
|
||||
* limited to "MPC_LAND_SPEED"
|
||||
* Value needs to be lower than "MPC_LAND_ALT1"
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @max 122
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f);
|
||||
|
||||
/**
|
||||
* Altitude for 3. step of slow landing
|
||||
*
|
||||
* Below this altitude descending velocity gets
|
||||
* limited to "MPC_LAND_CRWL", if LIDAR available.
|
||||
* No effect if LIDAR not available
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @max 122
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_ALT3, 1.0f);
|
||||
|
||||
/**
|
||||
* Position control smooth takeoff ramp time constant
|
||||
*
|
||||
* Increasing this value will make automatic and manual takeoff slower.
|
||||
* If it's too slow the drone might scratch the ground and tip over.
|
||||
* A time constant of 0 disables the ramp
|
||||
*
|
||||
* @min 0
|
||||
* @max 5
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
|
||||
|
||||
/**
|
||||
* Manual-Position control sub-mode
|
||||
*
|
||||
* The supported sub-modes are:
|
||||
* 0 Simple position control where sticks map directly to velocity setpoints
|
||||
* without smoothing. Useful for velocity control tuning.
|
||||
* 3 Smooth position control with maximum acceleration and jerk limits based on
|
||||
* jerk optimized trajectory generator (different algorithm than 1).
|
||||
* 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag
|
||||
*
|
||||
* @value 0 Simple position control
|
||||
* @value 3 Smooth position control (Jerk optimized)
|
||||
* @value 4 Acceleration based input
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
|
||||
|
||||
/**
|
||||
* Yaw mode.
|
||||
*
|
||||
* Specifies the heading in Auto.
|
||||
*
|
||||
* @min 0
|
||||
* @max 4
|
||||
* @value 0 towards waypoint
|
||||
* @value 1 towards home
|
||||
* @value 2 away from home
|
||||
* @value 3 along trajectory
|
||||
* @value 4 towards waypoint (yaw first)
|
||||
* @group Mission
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
|
||||
|
||||
/**
|
||||
* Responsiveness
|
||||
*
|
||||
* Changes the overall responsiveness of the vehicle.
|
||||
* The higher the value, the faster the vehicle will react.
|
||||
*
|
||||
* If set to a value greater than zero, other parameters are automatically set (such as
|
||||
* the acceleration or jerk limits).
|
||||
* If set to a negative value, the existing individual parameters are used.
|
||||
*
|
||||
* @min -1
|
||||
* @max 1
|
||||
* @decimal 2
|
||||
* @increment 0.05
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SYS_VEHICLE_RESP, -0.4f);
|
||||
|
||||
/**
|
||||
* Overall Horizontal Velocity Limit
|
||||
*
|
||||
* If set to a value greater than zero, other parameters are automatically set (such as
|
||||
* MPC_XY_VEL_MAX or MPC_VEL_MANUAL).
|
||||
* If set to a negative value, the existing individual parameters are used.
|
||||
*
|
||||
* @min -20
|
||||
* @max 20
|
||||
* @decimal 1
|
||||
* @increment 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_VEL_ALL, -10.0f);
|
||||
|
||||
/**
|
||||
* Overall Vertical Velocity Limit
|
||||
*
|
||||
* If set to a value greater than zero, other parameters are automatically set (such as
|
||||
* MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED).
|
||||
* If set to a negative value, the existing individual parameters are used.
|
||||
*
|
||||
* @min -3
|
||||
* @max 8
|
||||
* @decimal 1
|
||||
* @increment 0.5
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_ALL, -3.0f);
|
||||
@@ -0,0 +1,113 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Maximum vertical acceleration in velocity controlled modes upward
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 2.0
|
||||
* @max 15.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.0f);
|
||||
|
||||
/**
|
||||
* Maximum vertical acceleration in velocity controlled modes down
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 2.0
|
||||
* @max 15.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
|
||||
|
||||
/**
|
||||
* Manual yaw rate input filter time constant
|
||||
*
|
||||
* Setting this parameter to 0 disables the filter
|
||||
*
|
||||
* @unit s
|
||||
* @min 0.0
|
||||
* @max 5.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f);
|
||||
|
||||
/**
|
||||
* Altitude control mode.
|
||||
*
|
||||
* Set to 0 to control height relative to the earth frame origin. This origin may move up and down in
|
||||
* flight due to sensor drift.
|
||||
* Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down
|
||||
* with terrain height variation. Requires a distance to ground sensor. The height controller will
|
||||
* revert to using height above origin if the distance to ground estimate becomes invalid as indicated
|
||||
* by the local_position.distance_bottom_valid message being false.
|
||||
* Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative
|
||||
* to earth frame origin when moving horizontally.
|
||||
* The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.
|
||||
*
|
||||
* @min 0
|
||||
* @max 2
|
||||
* @value 0 Altitude following
|
||||
* @value 1 Terrain following
|
||||
* @value 2 Terrain hold
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
|
||||
|
||||
/**
|
||||
* Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.0
|
||||
* @max 3.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);
|
||||
|
||||
/**
|
||||
* Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.0
|
||||
* @max 3.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);
|
||||
@@ -0,0 +1,166 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Default horizontal velocity in mission
|
||||
*
|
||||
* Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 3.0
|
||||
* @max 20.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
|
||||
|
||||
/**
|
||||
* Automatic ascent velocity
|
||||
*
|
||||
* Ascent velocity in auto modes.
|
||||
* For manual modes and offboard, see MPC_Z_VEL_MAX_UP
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.5
|
||||
* @max 8.0
|
||||
* @increment 0.1
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f);
|
||||
|
||||
/**
|
||||
* Automatic descent velocity
|
||||
*
|
||||
* Descent velocity in auto modes.
|
||||
* For manual modes and offboard, see MPC_Z_VEL_MAX_DN
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.5
|
||||
* @max 4.0
|
||||
* @increment 0.1
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
|
||||
|
||||
/**
|
||||
* Acceleration for auto and for manual
|
||||
*
|
||||
* Note: In manual, this parameter is only used in MPC_POS_MODE 4.
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 2.0
|
||||
* @max 15.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
|
||||
PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*
|
||||
* @unit m/s^3
|
||||
* @min 1.0
|
||||
* @max 80.0
|
||||
* @increment 1
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
|
||||
|
||||
/**
|
||||
* Proportional gain for horizontal trajectory position error
|
||||
*
|
||||
* @min 0.1
|
||||
* @max 1.0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
|
||||
|
||||
/**
|
||||
* Maximum horizontal error allowed by the trajectory generator
|
||||
*
|
||||
* The integration speed of the trajectory setpoint is linearly
|
||||
* reduced with the horizontal position tracking error. When the
|
||||
* error is above this parameter, the integration of the
|
||||
* trajectory is stopped to wait for the drone.
|
||||
*
|
||||
* This value can be adjusted depending on the tracking
|
||||
* capabilities of the vehicle.
|
||||
*
|
||||
* @min 0.1
|
||||
* @max 10.0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f);
|
||||
|
||||
/**
|
||||
* Max yaw rate in auto mode
|
||||
*
|
||||
* Limit the rate of change of the yaw setpoint in autonomous mode
|
||||
* to avoid large control output and mixer saturation.
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 360.0
|
||||
* @decimal 1
|
||||
* @increment 5
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
|
||||
|
||||
/**
|
||||
* Yaw mode.
|
||||
*
|
||||
* Specifies the heading in Auto.
|
||||
*
|
||||
* @min 0
|
||||
* @max 4
|
||||
* @value 0 towards waypoint
|
||||
* @value 1 towards home
|
||||
* @value 2 away from home
|
||||
* @value 3 along trajectory
|
||||
* @value 4 towards waypoint (yaw first)
|
||||
* @group Mission
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
|
||||
@@ -0,0 +1,65 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Enable user assisted descent for autonomous land routine
|
||||
*
|
||||
* When enabled, descent speed will be:
|
||||
* stick full up - 0
|
||||
* stick centered - MPC_LAND_SPEED
|
||||
* stick full down - 2 * MPC_LAND_SPEED
|
||||
*
|
||||
* Additionally, the vehicle can be yawed and moved laterally using the other sticks.
|
||||
* Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @value 0 Fixed descent speed of MPC_LAND_SPEED
|
||||
* @value 1 User assisted descent speed
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0);
|
||||
|
||||
/**
|
||||
* User assisted landing radius
|
||||
*
|
||||
* When user assisted descent is enabled (see MPC_LAND_RC_HELP),
|
||||
* this parameter controls the maximum position adjustment
|
||||
* allowed from the original landing point.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_RADIUS, 1000.f);
|
||||
@@ -0,0 +1,127 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Proportional gain for vertical position error
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.5
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
|
||||
|
||||
/**
|
||||
* Proportional gain for horizontal position error
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 2.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);
|
||||
|
||||
/**
|
||||
* Proportional gain for vertical velocity error
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m/s velocity error
|
||||
*
|
||||
* @min 2.0
|
||||
* @max 15.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f);
|
||||
|
||||
/**
|
||||
* Proportional gain for horizontal velocity error
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m/s velocity error
|
||||
*
|
||||
* @min 1.2
|
||||
* @max 5.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f);
|
||||
|
||||
/**
|
||||
* Integral gain for vertical velocity error
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m velocity integral
|
||||
*
|
||||
* Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
|
||||
*
|
||||
* @min 0.2
|
||||
* @max 3.0
|
||||
* @decimal 3
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f);
|
||||
|
||||
/**
|
||||
* Integral gain for horizontal velocity error
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m velocity integral
|
||||
* Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 60.0
|
||||
* @decimal 3
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I_ACC, 0.4f);
|
||||
|
||||
/**
|
||||
* Differential gain for vertical velocity error
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 2.0
|
||||
* @decimal 3
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.0f);
|
||||
|
||||
/**
|
||||
* Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
|
||||
*
|
||||
* defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
|
||||
*
|
||||
* @min 0.1
|
||||
* @max 2.0
|
||||
* @decimal 3
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D_ACC, 0.2f);
|
||||
@@ -0,0 +1,102 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Maximum horizontal velocity
|
||||
*
|
||||
* Maximum horizontal velocity in AUTO mode. If higher speeds
|
||||
* are commanded in a mission they will be capped to this velocity.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.0
|
||||
* @max 20.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
|
||||
|
||||
/**
|
||||
* Maximum tilt angle in air
|
||||
*
|
||||
* Limits maximum tilt in AUTO and POSCTRL modes during flight.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 20.0
|
||||
* @max 89.0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
|
||||
|
||||
/**
|
||||
* Maximum tilt during landing
|
||||
*
|
||||
* Limits maximum tilt angle on landing.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 10.0
|
||||
* @max 89.0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
|
||||
|
||||
/**
|
||||
* Minimum collective thrust in auto thrust control
|
||||
*
|
||||
* It's recommended to set it > 0 to avoid free fall with zero thrust.
|
||||
* Note: Without airmode zero thrust leads to zero roll/pitch control authority. (see MC_AIRMODE)
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.05
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
|
||||
|
||||
/**
|
||||
* Maximum thrust in auto thrust control
|
||||
*
|
||||
* Limit max allowed thrust
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
|
||||
@@ -0,0 +1,90 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Hover thrust
|
||||
*
|
||||
* Vertical thrust required to hover.
|
||||
* This value is mapped to center stick for manual throttle control.
|
||||
* With this value set to the thrust required to hover, transition
|
||||
* from manual to Altitude or Position mode while hovering will occur with the
|
||||
* throttle stick near center, which is then interpreted as (near)
|
||||
* zero demand for vertical speed.
|
||||
*
|
||||
* This parameter is also important for the landing detection to work correctly.
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.1
|
||||
* @max 0.8
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
|
||||
|
||||
/**
|
||||
* Hover thrust source selector
|
||||
*
|
||||
* Set false to use the fixed parameter MPC_THR_HOVER
|
||||
* Set true to use the value computed by the hover thrust estimator
|
||||
*
|
||||
* @boolean
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_USE_HTE, 1);
|
||||
|
||||
/**
|
||||
* Horizontal thrust margin
|
||||
*
|
||||
* Margin that is kept for horizontal control when prioritizing vertical thrust.
|
||||
* To avoid completely starving horizontal control with high vertical error.
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.0
|
||||
* @max 0.5
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_THR_XY_MARG, 0.3f);
|
||||
|
||||
/**
|
||||
* Low pass filter cut freq. for numerical velocity derivative
|
||||
*
|
||||
* @unit Hz
|
||||
* @min 0.0
|
||||
* @max 10
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
|
||||
@@ -0,0 +1,222 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Manual-Position control sub-mode
|
||||
*
|
||||
* The supported sub-modes are:
|
||||
* 0 Simple position control where sticks map directly to velocity setpoints
|
||||
* without smoothing. Useful for velocity control tuning.
|
||||
* 3 Smooth position control with maximum acceleration and jerk limits based on
|
||||
* jerk optimized trajectory generator (different algorithm than 1).
|
||||
* 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag
|
||||
*
|
||||
* @value 0 Simple position control
|
||||
* @value 3 Smooth position control (Jerk optimized)
|
||||
* @value 4 Acceleration based input
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
|
||||
|
||||
/**
|
||||
* Maximum horizontal velocity setpoint in Position mode
|
||||
*
|
||||
* If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
|
||||
* the setpoint will be capped to MPC_XY_VEL_MAX
|
||||
*
|
||||
* The maximum sideways and backward speed can be set differently
|
||||
* using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 3.0
|
||||
* @max 20.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f);
|
||||
|
||||
/**
|
||||
* Maximum sideways velocity in Position mode
|
||||
*
|
||||
* If set to a negative value or larger than
|
||||
* MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min -1.0
|
||||
* @max 20.0
|
||||
* @increment 0.1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.0f);
|
||||
|
||||
/**
|
||||
* Maximum backward velocity in Position mode
|
||||
*
|
||||
* If set to a negative value or larger than
|
||||
* MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min -1.0
|
||||
* @max 20.0
|
||||
* @increment 0.1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.0f);
|
||||
|
||||
/**
|
||||
* Maximum ascent velocity
|
||||
*
|
||||
* Ascent velocity in manual modes and offboard.
|
||||
* For auto modes, see MPC_Z_V_AUTO_UP
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.5
|
||||
* @max 8.0
|
||||
* @increment 0.1
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
|
||||
|
||||
/**
|
||||
* Maximum descent velocity
|
||||
*
|
||||
* Descent velocity in manual modes and offboard.
|
||||
* For auto modes, see MPC_Z_V_AUTO_DN
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.5
|
||||
* @max 4.0
|
||||
* @increment 0.1
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
|
||||
|
||||
/**
|
||||
* Maximum horizontal acceleration for auto mode and for manual mode
|
||||
*
|
||||
* MPC_POS_MODE
|
||||
* 1 just deceleration
|
||||
* 3 acceleration and deceleration
|
||||
* 4 just acceleration
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 2.0
|
||||
* @max 15.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
|
||||
|
||||
/**
|
||||
* Maximum jerk limit
|
||||
*
|
||||
* 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 (how fast it can change directions or break).
|
||||
*
|
||||
* 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 3 or 4.
|
||||
*
|
||||
* @unit m/s^3
|
||||
* @min 0.5
|
||||
* @max 500.0
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f);
|
||||
|
||||
/**
|
||||
* Deadzone of sticks where position hold is enabled
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
|
||||
|
||||
/**
|
||||
* Manual position control stick exponential curve sensitivity
|
||||
*
|
||||
* The higher the value the less sensitivity the stick has around zero
|
||||
* while still reaching the maximum value with full stick deflection.
|
||||
*
|
||||
* 0 Purely linear input curve (default)
|
||||
* 1 Purely cubic input curve
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.6f);
|
||||
|
||||
/**
|
||||
* Manual control stick vertical exponential curve
|
||||
*
|
||||
* The higher the value the less sensitivity the stick has around zero
|
||||
* while still reaching the maximum value with full stick deflection.
|
||||
*
|
||||
* 0 Purely linear input curve (default)
|
||||
* 1 Purely cubic input curve
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.6f);
|
||||
|
||||
/**
|
||||
* Manual control stick yaw rotation exponential curve
|
||||
*
|
||||
* The higher the value the less sensitivity the stick has around zero
|
||||
* while still reaching the maximum value with full stick deflection.
|
||||
*
|
||||
* 0 Purely linear input curve (default)
|
||||
* 1 Purely cubic input curve
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.6f);
|
||||
@@ -0,0 +1,80 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Responsiveness
|
||||
*
|
||||
* Changes the overall responsiveness of the vehicle.
|
||||
* The higher the value, the faster the vehicle will react.
|
||||
*
|
||||
* If set to a value greater than zero, other parameters are automatically set (such as
|
||||
* the acceleration or jerk limits).
|
||||
* If set to a negative value, the existing individual parameters are used.
|
||||
*
|
||||
* @min -1
|
||||
* @max 1
|
||||
* @decimal 2
|
||||
* @increment 0.05
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SYS_VEHICLE_RESP, -0.4f);
|
||||
|
||||
/**
|
||||
* Overall Horizontal Velocity Limit
|
||||
*
|
||||
* If set to a value greater than zero, other parameters are automatically set (such as
|
||||
* MPC_XY_VEL_MAX or MPC_VEL_MANUAL).
|
||||
* If set to a negative value, the existing individual parameters are used.
|
||||
*
|
||||
* @min -20
|
||||
* @max 20
|
||||
* @decimal 1
|
||||
* @increment 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_XY_VEL_ALL, -10.0f);
|
||||
|
||||
/**
|
||||
* Overall Vertical Velocity Limit
|
||||
*
|
||||
* If set to a value greater than zero, other parameters are automatically set (such as
|
||||
* MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED).
|
||||
* If set to a negative value, the existing individual parameters are used.
|
||||
*
|
||||
* @min -3
|
||||
* @max 8
|
||||
* @decimal 1
|
||||
* @increment 0.5
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_Z_VEL_ALL, -3.0f);
|
||||
@@ -0,0 +1,91 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Maximal tilt angle in manual or altitude mode
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0.0
|
||||
* @max 90.0
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
|
||||
|
||||
/**
|
||||
* Max manual yaw rate
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 400
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f);
|
||||
|
||||
/**
|
||||
* Minimum manual thrust
|
||||
*
|
||||
* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
|
||||
* With MC_AIRMODE set to 1, this can safely be set to 0.
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
|
||||
|
||||
/**
|
||||
* Thrust curve in Manual Mode
|
||||
*
|
||||
* This parameter defines how the throttle stick input is mapped to commanded thrust
|
||||
* in Manual/Stabilized flight mode.
|
||||
*
|
||||
* In case the default is used ('Rescale to hover thrust'), the stick input is linearly
|
||||
* rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER).
|
||||
*
|
||||
* Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful
|
||||
* in case the hover thrust is very low and the default would lead to too much distortion
|
||||
* (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.
|
||||
*
|
||||
* @value 0 Rescale to hover thrust
|
||||
* @value 1 No Rescale
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(MPC_THR_CURVE, 0);
|
||||
@@ -0,0 +1,123 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Position control smooth takeoff ramp time constant
|
||||
*
|
||||
* Increasing this value will make automatic and manual takeoff slower.
|
||||
* If it's too slow the drone might scratch the ground and tip over.
|
||||
* A time constant of 0 disables the ramp
|
||||
*
|
||||
* @min 0
|
||||
* @max 5
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
|
||||
|
||||
/**
|
||||
* Takeoff climb rate
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 1
|
||||
* @max 5
|
||||
* @decimal 2
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
|
||||
|
||||
/**
|
||||
* Altitude for 1. step of slow landing (descend)
|
||||
*
|
||||
* Below this altitude descending velocity gets limited to a value
|
||||
* between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED"
|
||||
* Value needs to be higher than "MPC_LAND_ALT2"
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @max 122
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f);
|
||||
|
||||
/**
|
||||
* Altitude for 2. step of slow landing (landing)
|
||||
*
|
||||
* Below this altitude descending velocity gets
|
||||
* limited to "MPC_LAND_SPEED"
|
||||
* Value needs to be lower than "MPC_LAND_ALT1"
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @max 122
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f);
|
||||
|
||||
/**
|
||||
* Altitude for 3. step of slow landing
|
||||
*
|
||||
* Below this altitude descending velocity gets
|
||||
* limited to "MPC_LAND_CRWL", if LIDAR available.
|
||||
* No effect if LIDAR not available
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @max 122
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_ALT3, 1.0f);
|
||||
|
||||
/**
|
||||
* Landing descend rate
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.6
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
|
||||
|
||||
/**
|
||||
* Land crawl descend rate
|
||||
*
|
||||
* Used below MPC_LAND_ALT3 if distance sensor data is availabe.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.1
|
||||
* @decimal 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_LAND_CRWL, 0.3f);
|
||||
Reference in New Issue
Block a user