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multicopter manual attitude control: Leave some margin for yaw control

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This commit is contained in:
Lorenz Meier
2015-06-05 22:45:07 +02:00
parent 46d969772c
commit f6dc9c9727
2 changed files with 4 additions and 2 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+2 -1
View File
@@ -97,6 +97,7 @@ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
#define YAW_DEADZONE 0.05f #define YAW_DEADZONE 0.05f
#define MIN_TAKEOFF_THRUST 0.2f #define MIN_TAKEOFF_THRUST 0.2f
#define RATES_I_LIMIT 0.3f #define RATES_I_LIMIT 0.3f
#define MANUAL_THROTTLE_MAX_MULTICOPTER 0.9f
class MulticopterAttitudeControl class MulticopterAttitudeControl
{ {
@@ -831,7 +832,7 @@ MulticopterAttitudeControl::task_main()
if (_v_control_mode.flag_control_manual_enabled) { if (_v_control_mode.flag_control_manual_enabled) {
/* manual rates control - ACRO mode */ /* manual rates control - ACRO mode */
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max); _rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp.z; _thrust_sp = math::min(_manual_control_sp.z, MANUAL_THROTTLE_MAX_MULTICOPTER);
/* publish attitude rates setpoint */ /* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0); _v_rates_sp.roll = _rates_sp(0);
src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -1
View File
@@ -83,6 +83,7 @@
#define TILT_COS_MAX 0.7f #define TILT_COS_MAX 0.7f
#define SIGMA 0.000001f #define SIGMA 0.000001f
#define MIN_DIST 0.01f #define MIN_DIST 0.01f
#define MANUAL_THROTTLE_MAX_MULTICOPTER 0.9f
/** /**
* Multicopter position control app start / stop handling function * Multicopter position control app start / stop handling function
@@ -1387,7 +1388,7 @@ MulticopterPositionControl::task_main()
//Control climb rate directly if no aiding altitude controller is active //Control climb rate directly if no aiding altitude controller is active
if(!_control_mode.flag_control_climb_rate_enabled) { if(!_control_mode.flag_control_climb_rate_enabled) {
_att_sp.thrust = _manual.z; _att_sp.thrust = math::min(_manual.z, MANUAL_THROTTLE_MAX_MULTICOPTER);
} }
//Construct attitude setpoint rotation matrix //Construct attitude setpoint rotation matrix