mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-29 12:53:33 +08:00
Silvan Fuhrer
27309a45cc
Don't consider these params for vertical speed threshold, and instead increase the default for LNDMC_Z_VEL_MAX and use solely that one. Makes the land detector outcome more predictable and its interal logic simpler, while the new default tuning is resulting in about the same vz threshold as before. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
881 lines
21 KiB
C
881 lines
21 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mc_pos_control_params.c
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* Multicopter position controller parameters.
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*
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* @author Anton Babushkin <anton@px4.io>
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*/
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/**
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* Minimum collective thrust in auto thrust control
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*
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* It's recommended to set it > 0 to avoid free fall with zero thrust.
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* Note: Without airmode zero thrust leads to zero roll/pitch control authority. (see MC_AIRMODE)
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*
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* @unit norm
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* @min 0.05
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* @max 1.0
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* @decimal 2
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* @increment 0.01
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
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/**
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* Hover thrust
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*
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* Vertical thrust required to hover.
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* This value is mapped to center stick for manual throttle control.
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* With this value set to the thrust required to hover, transition
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* from manual to Altitude or Position mode while hovering will occur with the
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* throttle stick near center, which is then interpreted as (near)
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* zero demand for vertical speed.
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*
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* This parameter is also important for the landing detection to work correctly.
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*
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* @unit norm
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* @min 0.1
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* @max 0.8
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* @decimal 2
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* @increment 0.01
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
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/**
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* Hover thrust source selector
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*
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* Set false to use the fixed parameter MPC_THR_HOVER
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* Set true to use the value computed by the hover thrust estimator
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*
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* @boolean
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_INT32(MPC_USE_HTE, 1);
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/**
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* Thrust curve in Manual Mode
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*
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* This parameter defines how the throttle stick input is mapped to commanded thrust
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* in Manual/Stabilized flight mode.
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*
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* In case the default is used ('Rescale to hover thrust'), the stick input is linearly
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* rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER).
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*
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* Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful
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* in case the hover thrust is very low and the default would lead to too much distortion
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* (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the
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* upper half of the stick range).
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*
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* Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.
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*
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* @value 0 Rescale to hover thrust
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* @value 1 No Rescale
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_INT32(MPC_THR_CURVE, 0);
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/**
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* Horizontal thrust margin
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*
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* Margin that is kept for horizontal control when prioritizing vertical thrust.
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* To avoid completely starving horizontal control with high vertical error.
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*
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* @unit norm
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* @min 0.0
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* @max 0.5
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* @decimal 2
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* @increment 0.01
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_THR_XY_MARG, 0.3f);
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/**
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* Maximum thrust in auto thrust control
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*
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* Limit max allowed thrust
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*
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* @unit norm
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.01
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
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/**
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* Minimum manual thrust
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*
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* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
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* With MC_AIRMODE set to 1, this can safely be set to 0.
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*
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* @unit norm
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.01
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
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/**
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* Proportional gain for vertical position error
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*
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* @min 0.0
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* @max 1.5
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
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/**
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* Proportional gain for vertical velocity error
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*
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* defined as correction acceleration in m/s^2 per m/s velocity error
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*
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* @min 2.0
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* @max 15.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f);
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/**
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* Integral gain for vertical velocity error
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*
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* defined as correction acceleration in m/s^2 per m velocity integral
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*
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* Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
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*
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* @min 0.2
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* @max 3.0
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* @decimal 3
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f);
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/**
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* Differential gain for vertical velocity error
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*
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* defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
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*
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* @min 0.0
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* @max 2.0
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* @decimal 3
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.0f);
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/**
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* Automatic ascent velocity
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*
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* Ascent velocity in auto modes.
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* For manual modes and offboard, see MPC_Z_VEL_MAX_UP
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*
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* @unit m/s
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* @min 0.5
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* @max 8.0
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* @increment 0.1
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f);
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/**
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* Maximum ascent velocity
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*
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* Ascent velocity in manual modes and offboard.
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* For auto modes, see MPC_Z_V_AUTO_UP
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*
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* @unit m/s
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* @min 0.5
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* @max 8.0
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* @increment 0.1
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
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/**
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* Automatic descent velocity
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*
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* Descent velocity in auto modes.
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* For manual modes and offboard, see MPC_Z_VEL_MAX_DN
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*
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* @unit m/s
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* @min 0.5
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* @max 4.0
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* @increment 0.1
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
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/**
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* Maximum descent velocity
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*
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* Descent velocity in manual modes and offboard.
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* For auto modes, see MPC_Z_V_AUTO_DN
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*
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* @unit m/s
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* @min 0.5
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* @max 4.0
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* @increment 0.1
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
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/**
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* Proportional gain for horizontal position error
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*
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* @min 0.0
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* @max 2.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);
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/**
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* Proportional gain for horizontal velocity error
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*
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* defined as correction acceleration in m/s^2 per m/s velocity error
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*
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* @min 1.2
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* @max 5.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f);
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/**
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* Integral gain for horizontal velocity error
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*
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* defined as correction acceleration in m/s^2 per m velocity integral
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* Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.
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*
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* @min 0.0
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* @max 60.0
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* @decimal 3
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_VEL_I_ACC, 0.4f);
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/**
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* Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
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*
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* defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
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*
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* @min 0.1
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* @max 2.0
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* @decimal 3
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_VEL_D_ACC, 0.2f);
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/**
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* Default horizontal velocity in mission
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*
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* Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.
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*
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* @unit m/s
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* @min 3.0
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* @max 20.0
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* @increment 1
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
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/**
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* Proportional gain for horizontal trajectory position error
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*
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* @min 0.1
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* @max 1.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
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/**
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* Maximum horizontal error allowed by the trajectory generator
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*
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* The integration speed of the trajectory setpoint is linearly
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* reduced with the horizontal position tracking error. When the
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* error is above this parameter, the integration of the
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* trajectory is stopped to wait for the drone.
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*
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* This value can be adjusted depending on the tracking
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* capabilities of the vehicle.
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*
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* @min 0.1
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* @max 10.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f);
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/**
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* Maximum horizontal velocity setpoint in Position mode
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*
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* If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
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* the setpoint will be capped to MPC_XY_VEL_MAX
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*
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* The maximum sideways and backward speed can be set differently
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* using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.
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*
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* @unit m/s
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* @min 3.0
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* @max 20.0
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* @increment 1
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f);
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/**
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* Maximum sideways velocity in Position mode
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*
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* If set to a negative value or larger than
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* MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.
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*
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* @unit m/s
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* @min -1.0
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* @max 20.0
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* @increment 0.1
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.0f);
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/**
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* Maximum backward velocity in Position mode
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*
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* If set to a negative value or larger than
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* MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.
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*
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* @unit m/s
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* @min -1.0
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* @max 20.0
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* @increment 0.1
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.0f);
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/**
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* Maximum horizontal velocity
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*
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* Maximum horizontal velocity in AUTO mode. If higher speeds
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* are commanded in a mission they will be capped to this velocity.
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*
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* @unit m/s
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* @min 0.0
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* @max 20.0
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* @increment 1
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
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/**
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* Maximum tilt angle in air
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*
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* Limits maximum tilt in AUTO and POSCTRL modes during flight.
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*
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* @unit deg
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* @min 20.0
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* @max 89.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
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/**
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* Maximum tilt during landing
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*
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* Limits maximum tilt angle on landing.
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*
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* @unit deg
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* @min 10.0
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* @max 89.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
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/**
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* Landing descend rate
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*
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* @unit m/s
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* @min 0.6
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
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/**
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* Land crawl descend rate
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*
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* Used below MPC_LAND_ALT3 if distance sensor data is availabe.
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*
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* @unit m/s
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* @min 0.1
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_LAND_CRWL, 0.3f);
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/**
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* Enable user assisted descent speed for autonomous land routine.
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*
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* When enabled, descent speed will be:
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* stick full up - 0
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* stick centered - MPC_LAND_SPEED
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* stick full down - 2 * MPC_LAND_SPEED
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*
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* @min 0
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* @max 1
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* @value 0 Fixed descent speed of MPC_LAND_SPEED
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* @value 1 User assisted descent speed
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*/
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PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0);
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/**
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* Takeoff climb rate
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*
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* @unit m/s
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* @min 1
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* @max 5
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
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/**
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* Maximal tilt angle in manual or altitude mode
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*
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* @unit deg
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
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/**
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* Max manual yaw rate
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*
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* @unit deg/s
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* @min 0.0
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* @max 400
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f);
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/**
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* Manual yaw rate input filter time constant
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*
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|
* Setting this parameter to 0 disables the filter
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*
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* @unit s
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* @min 0.0
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* @max 5.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f);
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/**
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* Deadzone of sticks where position hold is enabled
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*
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
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/**
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* Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
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*
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* @unit m/s
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* @min 0.0
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* @max 3.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);
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/**
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* Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
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*
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* @unit m/s
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* @min 0.0
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* @max 3.0
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* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);
|
|
|
|
/**
|
|
* Low pass filter cut freq. for numerical velocity derivative
|
|
*
|
|
* @unit Hz
|
|
* @min 0.0
|
|
* @max 10
|
|
* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
|
|
|
|
/**
|
|
* Maximum horizontal acceleration for auto mode and for manual mode
|
|
*
|
|
* MPC_POS_MODE
|
|
* 1 just deceleration
|
|
* 3 acceleration and deceleration
|
|
* 4 just acceleration
|
|
*
|
|
* @unit m/s^2
|
|
* @min 2.0
|
|
* @max 15.0
|
|
* @increment 1
|
|
* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
|
|
|
|
/**
|
|
* Acceleration for auto and for manual
|
|
*
|
|
* Note: In manual, this parameter is only used in MPC_POS_MODE 4.
|
|
*
|
|
* @unit m/s^2
|
|
* @min 2.0
|
|
* @max 15.0
|
|
* @increment 1
|
|
* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
|
|
PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
|
|
|
|
/**
|
|
* Maximum vertical acceleration in velocity controlled modes upward
|
|
*
|
|
* @unit m/s^2
|
|
* @min 2.0
|
|
* @max 15.0
|
|
* @increment 1
|
|
* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.0f);
|
|
|
|
/**
|
|
* Maximum vertical acceleration in velocity controlled modes down
|
|
*
|
|
* @unit m/s^2
|
|
* @min 2.0
|
|
* @max 15.0
|
|
* @increment 1
|
|
* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
|
|
|
|
/**
|
|
* Maximum jerk limit
|
|
*
|
|
* Limit the maximum jerk of the vehicle (how fast the acceleration can change).
|
|
* A lower value leads to smoother vehicle motions, but it also limits its
|
|
* agility (how fast it can change directions or break).
|
|
*
|
|
* Setting this to the maximum value essentially disables the limit.
|
|
*
|
|
* Note: This is only used when MPC_POS_MODE is set to a smoothing mode 3 or 4.
|
|
*
|
|
* @unit m/s^3
|
|
* @min 0.5
|
|
* @max 500.0
|
|
* @increment 1
|
|
* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f);
|
|
|
|
/**
|
|
* Jerk limit in auto mode
|
|
*
|
|
* Limit the maximum jerk of the vehicle (how fast the acceleration can change).
|
|
* A lower value leads to smoother vehicle motions, but it also limits its
|
|
* agility.
|
|
*
|
|
* @unit m/s^3
|
|
* @min 1.0
|
|
* @max 80.0
|
|
* @increment 1
|
|
* @decimal 1
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
|
|
|
|
/**
|
|
* Altitude control mode.
|
|
*
|
|
* Set to 0 to control height relative to the earth frame origin. This origin may move up and down in
|
|
* flight due to sensor drift.
|
|
* Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down
|
|
* with terrain height variation. Requires a distance to ground sensor. The height controller will
|
|
* revert to using height above origin if the distance to ground estimate becomes invalid as indicated
|
|
* by the local_position.distance_bottom_valid message being false.
|
|
* Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative
|
|
* to earth frame origin when moving horizontally.
|
|
* The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.
|
|
*
|
|
* @min 0
|
|
* @max 2
|
|
* @value 0 Altitude following
|
|
* @value 1 Terrain following
|
|
* @value 2 Terrain hold
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
|
|
|
|
/**
|
|
* Manual position control stick exponential curve sensitivity
|
|
*
|
|
* The higher the value the less sensitivity the stick has around zero
|
|
* while still reaching the maximum value with full stick deflection.
|
|
*
|
|
* 0 Purely linear input curve (default)
|
|
* 1 Purely cubic input curve
|
|
*
|
|
* @min 0
|
|
* @max 1
|
|
* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.6f);
|
|
|
|
/**
|
|
* Manual control stick vertical exponential curve
|
|
*
|
|
* The higher the value the less sensitivity the stick has around zero
|
|
* while still reaching the maximum value with full stick deflection.
|
|
*
|
|
* 0 Purely linear input curve (default)
|
|
* 1 Purely cubic input curve
|
|
*
|
|
* @min 0
|
|
* @max 1
|
|
* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.6f);
|
|
|
|
/**
|
|
* Manual control stick yaw rotation exponential curve
|
|
*
|
|
* The higher the value the less sensitivity the stick has around zero
|
|
* while still reaching the maximum value with full stick deflection.
|
|
*
|
|
* 0 Purely linear input curve (default)
|
|
* 1 Purely cubic input curve
|
|
*
|
|
* @min 0
|
|
* @max 1
|
|
* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.6f);
|
|
|
|
/**
|
|
* Max yaw rate in auto mode
|
|
*
|
|
* Limit the rate of change of the yaw setpoint in autonomous mode
|
|
* to avoid large control output and mixer saturation.
|
|
*
|
|
* @unit deg/s
|
|
* @min 0.0
|
|
* @max 360.0
|
|
* @decimal 1
|
|
* @increment 5
|
|
* @group Multicopter Attitude Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
|
|
|
|
/**
|
|
* Altitude for 1. step of slow landing (descend)
|
|
*
|
|
* Below this altitude descending velocity gets limited to a value
|
|
* between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED"
|
|
* Value needs to be higher than "MPC_LAND_ALT2"
|
|
*
|
|
* @unit m
|
|
* @min 0
|
|
* @max 122
|
|
* @decimal 1
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f);
|
|
|
|
/**
|
|
* Altitude for 2. step of slow landing (landing)
|
|
*
|
|
* Below this altitude descending velocity gets
|
|
* limited to "MPC_LAND_SPEED"
|
|
* Value needs to be lower than "MPC_LAND_ALT1"
|
|
*
|
|
* @unit m
|
|
* @min 0
|
|
* @max 122
|
|
* @decimal 1
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f);
|
|
|
|
/**
|
|
* Altitude for 3. step of slow landing
|
|
*
|
|
* Below this altitude descending velocity gets
|
|
* limited to "MPC_LAND_CRWL", if LIDAR available.
|
|
* No effect if LIDAR not available
|
|
*
|
|
* @unit m
|
|
* @min 0
|
|
* @max 122
|
|
* @decimal 1
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_LAND_ALT3, 1.0f);
|
|
|
|
/**
|
|
* Position control smooth takeoff ramp time constant
|
|
*
|
|
* Increasing this value will make automatic and manual takeoff slower.
|
|
* If it's too slow the drone might scratch the ground and tip over.
|
|
* A time constant of 0 disables the ramp
|
|
*
|
|
* @min 0
|
|
* @max 5
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
|
|
|
|
/**
|
|
* Manual-Position control sub-mode
|
|
*
|
|
* The supported sub-modes are:
|
|
* 0 Simple position control where sticks map directly to velocity setpoints
|
|
* without smoothing. Useful for velocity control tuning.
|
|
* 3 Smooth position control with maximum acceleration and jerk limits based on
|
|
* jerk optimized trajectory generator (different algorithm than 1).
|
|
* 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag
|
|
*
|
|
* @value 0 Simple position control
|
|
* @value 3 Smooth position control (Jerk optimized)
|
|
* @value 4 Acceleration based input
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
|
|
|
|
/**
|
|
* Yaw mode.
|
|
*
|
|
* Specifies the heading in Auto.
|
|
*
|
|
* @min 0
|
|
* @max 4
|
|
* @value 0 towards waypoint
|
|
* @value 1 towards home
|
|
* @value 2 away from home
|
|
* @value 3 along trajectory
|
|
* @value 4 towards waypoint (yaw first)
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
|
|
|
|
/**
|
|
* Responsiveness
|
|
*
|
|
* Changes the overall responsiveness of the vehicle.
|
|
* The higher the value, the faster the vehicle will react.
|
|
*
|
|
* If set to a value greater than zero, other parameters are automatically set (such as
|
|
* the acceleration or jerk limits).
|
|
* If set to a negative value, the existing individual parameters are used.
|
|
*
|
|
* @min -1
|
|
* @max 1
|
|
* @decimal 2
|
|
* @increment 0.05
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(SYS_VEHICLE_RESP, -0.4f);
|
|
|
|
/**
|
|
* Overall Horizontal Velocity Limit
|
|
*
|
|
* If set to a value greater than zero, other parameters are automatically set (such as
|
|
* MPC_XY_VEL_MAX or MPC_VEL_MANUAL).
|
|
* If set to a negative value, the existing individual parameters are used.
|
|
*
|
|
* @min -20
|
|
* @max 20
|
|
* @decimal 1
|
|
* @increment 1
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_XY_VEL_ALL, -10.0f);
|
|
|
|
/**
|
|
* Overall Vertical Velocity Limit
|
|
*
|
|
* If set to a value greater than zero, other parameters are automatically set (such as
|
|
* MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED).
|
|
* If set to a negative value, the existing individual parameters are used.
|
|
*
|
|
* @min -3
|
|
* @max 8
|
|
* @decimal 1
|
|
* @increment 0.5
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_Z_VEL_ALL, -3.0f);
|