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FlightTaskManualAltitude: add deadzone for yaw

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent cd1e01d5a0
commit ec4089cebf
2 changed files with 6 additions and 3 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+5 -3
View File
@@ -34,7 +34,7 @@
/** /**
* @file FlightTaskManual.hpp * @file FlightTaskManual.hpp
* *
* Flight task for manual controlled altitude. * Flight-task for manual controlled altitude.
* *
*/ */
@@ -51,7 +51,9 @@ FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent,
_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false), _vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
_yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false), _yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false),
_acc_max_up(parent, "MPC_ACC_UP_MAX", false), _acc_max_up(parent, "MPC_ACC_UP_MAX", false),
_acc_max_down(parent, "MPC_ACC_DOWN_MAX", false) _acc_max_down(parent, "MPC_ACC_DOWN_MAX", false),
_stick_deadzone(parent, "MPC_HOLD_DZ", false)
{} {}
bool FlightTaskManualAltitude::activate() bool FlightTaskManualAltitude::activate()
@@ -76,7 +78,7 @@ void FlightTaskManualAltitude::scaleSticks()
void FlightTaskManualAltitude::updateHeadingSetpoints() void FlightTaskManualAltitude::updateHeadingSetpoints()
{ {
if (fabsf(_sticks(3)) < FLT_EPSILON) { if (fabsf(_sticks(3)) < _stick_deadzone.get()) {
/* Want to hold yaw */ /* Want to hold yaw */
_yaw_rate_sp = NAN; _yaw_rate_sp = NAN;
_yaw_sp = _yaw_sp_predicted; _yaw_sp = _yaw_sp_predicted;
src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
+1
View File
@@ -65,6 +65,7 @@ protected:
control::BlockParamFloat _yaw_rate_scaling; /**< scaling factor from stick to yaw rate */ control::BlockParamFloat _yaw_rate_scaling; /**< scaling factor from stick to yaw rate */
control::BlockParamFloat _acc_max_up; /**< maximum acceleration upward */ control::BlockParamFloat _acc_max_up; /**< maximum acceleration upward */
control::BlockParamFloat _acc_max_down; /**< maximum acceleration downward */ control::BlockParamFloat _acc_max_down; /**< maximum acceleration downward */
control::BlockParamFloat _stick_deadzone; /**< stick is considered zero if below deadzone */
virtual void updateSetpoints(); /**< updates all setpoints */ virtual void updateSetpoints(); /**< updates all setpoints */
virtual void scaleSticks(); /**< scales sticks to velocity */ virtual void scaleSticks(); /**< scales sticks to velocity */