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GotoControl: rename yaw rate acceleration parameter

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such that not only one letter differs to MPC_YAWRAUTO_MAX
This commit is contained in:
Matthias Grob
2023-11-30 17:16:02 +01:00
parent dc7f9165d1
commit d1e8bdbd16
3 changed files with 7 additions and 7 deletions
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src/modules/mc_pos_control/GotoControl/GotoControl.cpp
+3 -3
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@@ -229,7 +229,7 @@ void GotoControl::setPositionSmootherLimits(const goto_setpoint_s &goto_setpoint
void GotoControl::setHeadingSmootherLimits(const goto_setpoint_s &goto_setpoint) void GotoControl::setHeadingSmootherLimits(const goto_setpoint_s &goto_setpoint)
{ {
float max_heading_rate = _param_mpc_yawrauto_max.get(); float max_heading_rate = _param_mpc_yawrauto_max.get();
float max_heading_accel = _param_mpc_yawaauto_max.get(); float max_heading_accel = _param_mpc_yawrauto_acc.get();
if (goto_setpoint.flag_set_max_heading_rate && PX4_ISFINITE(_param_mpc_yawrauto_max.get())) { if (goto_setpoint.flag_set_max_heading_rate && PX4_ISFINITE(_param_mpc_yawrauto_max.get())) {
max_heading_rate = math::constrain(_param_mpc_yawrauto_max.get(), 0.f, max_heading_rate = math::constrain(_param_mpc_yawrauto_max.get(), 0.f,
@@ -239,8 +239,8 @@ void GotoControl::setHeadingSmootherLimits(const goto_setpoint_s &goto_setpoint)
// only limit acceleration once within velocity constraints // only limit acceleration once within velocity constraints
if (fabsf(_heading_smoothing.getSmoothedHeadingRate()) <= max_heading_rate) { if (fabsf(_heading_smoothing.getSmoothedHeadingRate()) <= max_heading_rate) {
const float rate_scale = max_heading_rate / _param_mpc_yawrauto_max.get(); const float rate_scale = max_heading_rate / _param_mpc_yawrauto_max.get();
max_heading_accel = math::constrain(_param_mpc_yawaauto_max.get() * rate_scale, max_heading_accel = math::constrain(_param_mpc_yawrauto_acc.get() * rate_scale,
0.f, _param_mpc_yawaauto_max.get()); 0.f, _param_mpc_yawrauto_acc.get());
} }
} }
src/modules/mc_pos_control/GotoControl/GotoControl.hpp
+1 -1
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@@ -132,7 +132,7 @@ private:
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max, (ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto, (ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max, (ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
(ParamFloat<px4::params::MPC_YAWAAUTO_MAX>) _param_mpc_yawaauto_max, (ParamFloat<px4::params::MPC_YAWRAUTO_ACC>) _param_mpc_yawrauto_acc,
(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max (ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max
); );
}; };
src/modules/mc_pos_control/multicopter_autonomous_params.c
+3 -3
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@@ -133,7 +133,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.f); PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.f);
/** /**
* Max yaw rate in autonomous modes * Maximum yaw rate in autonomous modes
* *
* Limits the rate of change of the yaw setpoint to avoid large * Limits the rate of change of the yaw setpoint to avoid large
* control output and mixer saturation. * control output and mixer saturation.
@@ -148,7 +148,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.f);
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.f); PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.f);
/** /**
* Max yaw acceleration in autonomous modes * Maximum yaw acceleration in autonomous modes
* *
* Limits the acceleration of the yaw setpoint to avoid large * Limits the acceleration of the yaw setpoint to avoid large
* control output and mixer saturation. * control output and mixer saturation.
@@ -160,7 +160,7 @@ PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.f);
* @increment 5 * @increment 5
* @group Multicopter Attitude Control * @group Multicopter Attitude Control
*/ */
PARAM_DEFINE_FLOAT(MPC_YAWAAUTO_MAX, 60.f); PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_ACC, 60.f);
/** /**
* Heading behavior in autonomous modes * Heading behavior in autonomous modes