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SpacecraftRateControl: Remove old battery scaling

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This commit is contained in:
Balduin
2026-01-26 11:35:23 +01:00
parent b9321d326e
commit ec500ecb1d
3 changed files with 1 additions and 38 deletions
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src/modules/spacecraft/SpacecraftRateControl/SpacecraftRateControl.cpp
-20
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@@ -204,26 +204,6 @@ void SpacecraftRateControl::updateRateControl()
vehicle_torque_setpoint.xyz[1] = PX4_ISFINITE(torque_sp(1)) ? torque_sp(1) : 0.f; vehicle_torque_setpoint.xyz[1] = PX4_ISFINITE(torque_sp(1)) ? torque_sp(1) : 0.f;
vehicle_torque_setpoint.xyz[2] = PX4_ISFINITE(torque_sp(2)) ? torque_sp(2) : 0.f; vehicle_torque_setpoint.xyz[2] = PX4_ISFINITE(torque_sp(2)) ? torque_sp(2) : 0.f;
// scale setpoints by battery status if enabled
if (_param_sc_bat_scale_en.get()) {
if (_battery_status_sub.updated()) {
battery_status_s battery_status;
if (_battery_status_sub.copy(&battery_status) && battery_status.connected && battery_status.scale > 0.f) {
_battery_status_scale = battery_status.scale;
}
}
if (_battery_status_scale > 0.f) {
for (int i = 0; i < 3; i++) {
vehicle_thrust_setpoint.xyz[i] =
math::constrain(vehicle_thrust_setpoint.xyz[i] * _battery_status_scale, -1.f, 1.f);
vehicle_torque_setpoint.xyz[i] =
math::constrain(vehicle_torque_setpoint.xyz[i] * _battery_status_scale, -1.f, 1.f);
}
}
}
vehicle_thrust_setpoint.timestamp_sample = angular_velocity.timestamp_sample; vehicle_thrust_setpoint.timestamp_sample = angular_velocity.timestamp_sample;
vehicle_thrust_setpoint.timestamp = hrt_absolute_time(); vehicle_thrust_setpoint.timestamp = hrt_absolute_time();
_vehicle_thrust_setpoint_pub.publish(vehicle_thrust_setpoint); _vehicle_thrust_setpoint_pub.publish(vehicle_thrust_setpoint);
src/modules/spacecraft/SpacecraftRateControl/SpacecraftRateControl.hpp
+1 -4
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@@ -81,7 +81,6 @@ private:
RateControl _rate_control; ///< class for rate control calculations RateControl _rate_control; ///< class for rate control calculations
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)}; uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
@@ -153,8 +152,6 @@ private:
(ParamFloat<px4::params::SC_ACRO_SUPEXPOY>) _param_sc_acro_supexpoy, /**< superexpo stick curve shape (yaw) */ (ParamFloat<px4::params::SC_ACRO_SUPEXPOY>) _param_sc_acro_supexpoy, /**< superexpo stick curve shape (yaw) */
(ParamFloat<px4::params::SC_MAN_F_MAX>) _param_sc_manual_f_max, (ParamFloat<px4::params::SC_MAN_F_MAX>) _param_sc_manual_f_max,
(ParamFloat<px4::params::SC_MAN_T_MAX>) _param_sc_manual_t_max, (ParamFloat<px4::params::SC_MAN_T_MAX>) _param_sc_manual_t_max
(ParamBool<px4::params::SC_BAT_SCALE_EN>) _param_sc_bat_scale_en
) )
}; };
src/modules/spacecraft/spacecraft_rate_params.c
-14
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@@ -384,20 +384,6 @@ PARAM_DEFINE_FLOAT(SC_ACRO_SUPEXPO, 0.7f);
*/ */
PARAM_DEFINE_FLOAT(SC_ACRO_SUPEXPOY, 0.7f); PARAM_DEFINE_FLOAT(SC_ACRO_SUPEXPOY, 0.7f);
/**
* Battery power level scaler
*
* This compensates for voltage drop of the battery over time by attempting to
* normalize performance across the operating range of the battery. The copter
* should constantly behave as if it was fully charged with reduced max acceleration
* at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery,
* it will still be 0.5 at 60% battery.
*
* @boolean
* @group Spacecraft Rate Control
*/
PARAM_DEFINE_INT32(SC_BAT_SCALE_EN, 0);
/** /**
* Manual mode maximum force. * Manual mode maximum force.
* *