- Remove unnecessary in between rate limits member vectors.
- Only switch the yaw rate limit in auto modes,
other values stay the same anyways.
- Fill gain vectors with parameters in one line.
- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
* move airspeed and scaling calculation into separate method
* if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
When switching back from rate to attitude control, the code depended on a
vehicle_control_mode topics update, but the publication frequency of that
is low. So the switch was noticeably delayed.
- better in terms of dependencies:
- the position controller code depended on position topics for yaw
- mc_pos_control does not have to be run for Stabilized mode
- the code path is much simpler, and thus less error prone. This is
especially important since Stabilized is often used as a fail-safe flight
mode.
The rate controller is now run directly after a gyro publication, and
as soon as it publishes the actuator controls, the output driver (fmu/...)
runs.
Test on a Pixracer:
Reduces fmu control latency from 219us to 134us.
If we run the rate controller last (same order as before, just increase
the prio), the latency is 201us.
CPU load is unchanged.
The drawback is that the attitude to rate setpoint generation is delayed
by one cycle (4ms), but it will be reduced to 1ms as soon as we run at
1kHz.
It scales the yawspeed setpoint arbitrarily by default with 0.5.
This makes no sense because when you give a setpoint of 1rad/s then
you expect the setpoint to get executed. If you want manual yawspeed
response to be less agressive on the stick use the scaling parameter
for the stick MPC_MAN_Y_MAX.
Previously the rate controller disabled updating the integral below 20%
throttle. This is not ideal for several reasons:
- some racers already hover with 20% throttle.
- for acro it is important to always keep the integral enabled, it has a
noticeable effect on flight performance.
The meaning of the yaw weight changed with #8003:
- before, the yaw weight decreased with increasing tilt angle error, so
it was mostly 1
- now, it is constant and depends on the tuning gains (around 0.4 by default)
It means that #8003 reduced the feedforward term, and we get the closer
behavior as before with this change.
It also reduces coupling between different parameters.
Matthias Grob