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FlightTaskAuto: separate default speed and limit

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It wasn't possible to fly faster than cruise speed even if planned
in the mission.

Limiting the planned cruise speed is necessary because
the smoothed trajectory mission plans to the _mc_cruise_speed and
if that's higher than the maximum it gets capped for safety by the
position controller and the result is a jerky flight.
This commit is contained in:
Matthias Grob
2019-04-11 11:46:52 +02:00
committed by Julian Oes
parent 3135f9f0d2
commit 1454694bdd
1 changed files with 5 additions and 2 deletions
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+5 -2
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@@ -128,11 +128,14 @@ bool FlightTaskAuto::_evaluateTriplets()
// Always update cruise speed since that can change without waypoint changes.
_mc_cruise_speed = _sub_triplet_setpoint->get().current.cruising_speed;
if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < 0.0f) || (_mc_cruise_speed > _constraints.speed_xy)) {
// Use default limit.
if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < 0.0f)) {
// If no speed is planned use the default cruise speed as limit
_mc_cruise_speed = _constraints.speed_xy;
}
// Ensure planned cruise speed is below the maximum such that the smooth trajectory doesn't get capped
_mc_cruise_speed = math::min(_mc_cruise_speed, _param_mpc_xy_vel_max.get());
// Temporary target variable where we save the local reprojection of the latest navigator current triplet.
Vector3f tmp_target;