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L1: increase the max allowed tangential velocity in the opposite direction to 2m/s

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There is logic in L1 that prevents the vehicle from trying to achieve
an impossible loiter entry (e.g. due to wind). That check makes the
vehicle track the loiter center if the tangential velocity is in the wrong
direction while loitering. After the vehicle flies through the center, it can
then turn the other way around to join the loiter.
This check is though too sensitive if it purely checks for the wrong direction,
and it can end in delayed loiter entry for no reason.
This commit increases the threshold to 2m/s of tangential velocity
in the wrong direction to trigger the check.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-04-29 19:19:07 +02:00 committed by Roman Bapst
parent eee5f501cd
commit da4d6dc657
1 changed files with 4 additions and 2 deletions
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6
src/lib/l1/ECL_L1_Pos_Controller.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2021 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
@ -276,7 +276,9 @@ ECL_L1_Pos_Controller::navigate_loiter(const Vector2d &vector_A, const Vector2d
float tangent_vel = xtrack_vel_center * loiter_direction;
/* prevent PD output from turning the wrong way when in circle mode */
if (tangent_vel < 0.0f && _circle_mode) {
const float l1_op_tan_vel = 2.f; // hard coded max tangential velocity in the opposite direction
if (tangent_vel < -l1_op_tan_vel && _circle_mode) {
lateral_accel_sp_circle_pd = math::max(lateral_accel_sp_circle_pd, 0.0f);
}