But fix the two crucial problems:
- When to begin the ramp?
There's a calculation now for the velocity ramp initial value
such that the resulting thrust is zero at the beginning.
- When to end the ramp?
The ramp is applied to the upwards velocity constraint and it
just ramps from the initial value to the velocity constraint
which is applied during flight. Slower/going down is always possible.
Without always updating the takeoff state it will not get skipped when
the takeoff happened manually and when you switch from manual to position
mode the drone goes to idle and falls.
There are two local_position_setpoint in the position controller.
One describing the setpoint the task gives to the position controller
and a second one with the output of the position controller. I corrected
the wrong one during takeoff because the new takeoff thrust ramp runs after
the controller and not before.
The velocity ramp had problems with:
- different vehicle tunings resulted in the start value of the resulting
thrust ramp staring either higher and lower than zero thrust.
lower -> delay of beginning
higher -> small jump at beginning
- when a task set position and velocity at the same time during takeoff
(which AutoSmoothVel does) it resulted in a velocity setpoint
jump at the end of the ramp because the additional velocity
setpoint correction from the position controller was not considered.
The thrust ramp should now be very deterministic:
- always start at zero
- always end at the curreant thrust setpoint output
of the complete position controller
Daniel Agar