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mpc: add parameter for ascent/descent speed in auto modes

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bresch
2022-01-12 13:33:48 +01:00
committed by Mathieu Bresciani
parent 463513f31f
commit ea7d2334c9
11 changed files with 97 additions and 36 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+6 -7
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@@ -248,19 +248,18 @@ void FlightTaskOrbit::_updateTrajectoryBoundaries()
_altitude_velocity_smoothing.setMaxJerk(max_jerk);
if (_unsmoothed_velocity_setpoint(2) < 0.f) { // up
float z_accel_constraint = _param_mpc_acc_up_max.get();
float z_vel_constraint = _param_mpc_z_vel_max_up.get();
const float z_accel_constraint = _param_mpc_acc_up_max.get();
_position_smoothing.setMaxVelocityZ(z_vel_constraint);
_position_smoothing.setMaxVelocityZ(_param_mpc_z_v_auto_up.get());
_position_smoothing.setMaxAccelerationZ(z_accel_constraint);
_altitude_velocity_smoothing.setMaxVel(z_vel_constraint);
_altitude_velocity_smoothing.setMaxVel(_param_mpc_z_vel_max_up.get());
_altitude_velocity_smoothing.setMaxAccel(z_accel_constraint);
} else { // down
_position_smoothing.setMaxAccelerationZ(_param_mpc_acc_down_max.get());
_position_smoothing.setMaxVelocityZ(_param_mpc_z_vel_max_dn.get());
_altitude_velocity_smoothing.setMaxVel(_param_mpc_acc_down_max.get());
_altitude_velocity_smoothing.setMaxAccel(_param_mpc_z_vel_max_dn.get());
_position_smoothing.setMaxVelocityZ(_param_mpc_z_v_auto_dn.get());
_altitude_velocity_smoothing.setMaxAccel(_param_mpc_acc_down_max.get());
_altitude_velocity_smoothing.setMaxVel(_param_mpc_z_vel_max_dn.get());
}
}
src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
+3 -1
View File
@@ -140,6 +140,8 @@ private:
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_Z_V_AUTO_UP>) _param_mpc_z_v_auto_up,
(ParamFloat<px4::params::MPC_Z_V_AUTO_DN>) _param_mpc_z_v_auto_dn
)
};