6.5 is a relatively high value that was used mostly on smaller, low inertia vehicles ~250-500mm diagonal. There it works great but on larger, higher intertia vehicles this leads to problems.
* Rescale throttle curve to HTE as option
* Add slew rate to hover thrust estimate
* Update docs to reflect changes
Fix formating
* mc_att_control: suggestions for hover thrust slewing
- Slower slew rate
- Move update of hover thrust estimate into main loop
- Make sure dt for slew rate is correct
- Apply parameter updates if hover thrust estimate not used
- Parameter description in metadata files
* fix: Rescaling cases order
* Rescale to HTE estimate by default
* Update src/modules/mc_pos_control/multicopter_position_control_params.c
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
* Fix hte sub name
* Update MPC_THR_CURVE description
* Swap thr curve values to make hte rescaling default for value 0
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Use hover thrust estimate in stabilized mode to rescale stick inputs. Prevents vehicle from losing/gaining altitude when switching from position to stabilized mode.
* Remove euler angles from attitude setpoint message
* Remove usage of euler angles in attitude setpoint messages
This commit removes the usage of euler angles in the vehicle_attitude_setpoint messages
* Fix standard vtol
Instead of directly setting the attitude setpoint for usage inside the same module
only publish it to the uorb topic, which is subscribed to in the same module.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
That enables us to update the pitch setpoint in Stabilized mode
in the VTOL controller (pitch ramp for transition).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
but this time compared to
2fbb70d9ca94f442de1345221be18ba738cda952
the minimum thrust is ramping to not produce a thrust jump.
The better long term solution will be to always have airmode but
with the effect limited to a magnitude of MPC_MANTHR_MIN.
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.
I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.
While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
To be consistent with all other axes of stick input and avoid future
rescaling confusion.
Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
2fbb70d9ca94f442de1345221be18ba738cda952 made the lowest possible
throttle value commanded by stick in Stabilized mode before taking off 0.
The real world problem with this is that when takeoff is detected then
the entire throttle scaling range jumps from
[0, MPC_MANTHR_MIN]
to [MPC_MANTHR_MIN, MPC_MANTHR_MIN].
As a result whenever MPC_MANTHR_MIN is not zero there is a thrust jump
on every takeoff just at the moment takeoff is detected even when the
stick is moved continuously.
Because of this I suggest to revert to having a higher throttle value
from the beginning on because it's less complicated and there's
no obvious value in starting out with zero thrust if anyways not
possible to go back to zero for safety once takeoff is detected.
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
- FlightTaskOffboard not needed at all
- bypass position_setpoint_triplet entirely (start removing extraneous fields)
- simplify offboard_control_mode to map to supported control modes
