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feat(mpc): add MPC_VEL_ONLY to only apply horizontal velocity control

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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Beniamino Pozzan 2025-12-10 21:30:57 +00:00
parent 3a2ce0925d
commit eafbcbb060
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3 changed files with 19 additions and 2 deletions
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7
src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp
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@ -127,7 +127,12 @@ void FlightTaskManualPosition::_updateSetpoints()
FlightTaskManualAltitude::_updateSetpoints(); // needed to get yaw and setpoints in z-direction
_acceleration_setpoint.setNaN(); // don't use the horizontal setpoints from FlightTaskAltitude
_updateXYlock(); // check for position lock
if (_param_mpc_vel_only.get()) {
_position_setpoint(0) = NAN;
_position_setpoint(1) = NAN;
} else {
_updateXYlock(); // check for position lock
}
_weathervane.update();

3
src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.hpp
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@ -62,7 +62,8 @@ protected:
(ParamFloat<px4::params::MPC_VEL_MAN_SIDE>) _param_mpc_vel_man_side,
(ParamFloat<px4::params::MPC_VEL_MAN_BACK>) _param_mpc_vel_man_back,
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy
(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy,
(ParamBool<px4::params::MPC_VEL_ONLY>) _param_mpc_vel_only
)
private:
uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */

11
src/modules/mc_pos_control/multicopter_position_control_params.c
View File

@ -130,3 +130,14 @@ PARAM_DEFINE_FLOAT(MPC_VEL_NF_BW, 5.0f);
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
/**
* Disable horizontal position lock in manual position mode
*
* Disable horizontal position lock when the sticks are centered in position controlled modes
* and when the vehicle is not moving.
*
* @boolean
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_VEL_ONLY, 0);