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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/mc_pos_control/mc_pos_control_params.c
+42 -7
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@@ -200,29 +200,64 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.0f);
/**
* Maximum vertical ascent velocity
* Automatic ascent velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
* 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_VEL_MAX_UP, 3.0f);
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f);
/**
* Maximum vertical descent velocity
* Maximum ascent velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
* 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);
/**
* 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_VEL_MAX_DN, 1.0f);
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.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.f);
/**
* Proportional gain for horizontal position error
@@ -664,7 +699,7 @@ 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" and "MPC_LAND_SPEED"
* 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