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fix(flight_mode_manager): remove optical flow velocity constraint in manual modes

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When relying exclusively on optical flow, the EKF publishes a
vxy_max limit proportional to altitude (0.5 × max_flow_rate × height).
Both ManualPosition and ManualAcceleration flight tasks applied this
as a hard cap on the pilot's stick velocity authority.

At low altitudes the constraint severely limits pilot control — e.g.
at 0.3 m with SENS_FLOW_MAXR=8 the cap is only 1.2 m/s. This is
counterproductive because optical flow is least reliable near the
ground, drift is most likely, and the pilot needs full stick authority
to correct it.

The constraint remains in autonomous modes via
MulticopterPositionControl where it is appropriate since there is no
pilot to intervene.
This commit is contained in:
Jacob Dahl
2026-03-17 16:37:43 -08:00
parent c9ee06ff17
commit 37570f5c6e
2 changed files with 0 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
-18
View File
@@ -63,24 +63,6 @@ bool FlightTaskManualAcceleration::update()
setMaxDistanceToGround(vehicle_local_pos.hagl_max_xy);
bool ret = FlightTaskManualAltitudeSmoothVel::update();
float max_hagl_ratio = 0.0f;
if (PX4_ISFINITE(vehicle_local_pos.hagl_max_xy) && vehicle_local_pos.hagl_max_xy > FLT_EPSILON) {
max_hagl_ratio = (vehicle_local_pos.dist_bottom) / vehicle_local_pos.hagl_max_xy;
}
// limit horizontal velocity near max hagl to decrease chance of larger gound distance jumps
static constexpr float factor_threshold = 0.8f; // threshold ratio of max_hagl
static constexpr float min_vel = 2.f; // minimum max-velocity near max_hagl
if (max_hagl_ratio > factor_threshold) {
const float vxy_max = math::min(vehicle_local_pos.vxy_max, _param_mpc_vel_manual.get());
_stick_acceleration_xy.setVelocityConstraint(interpolate(max_hagl_ratio, factor_threshold, 1.f, vxy_max, min_vel));
} else if (PX4_ISFINITE(vehicle_local_pos.vxy_max)) {
_stick_acceleration_xy.setVelocityConstraint(vehicle_local_pos.vxy_max);
}
_stick_acceleration_xy.generateSetpoints(_sticks.getPitchRollExpo(), _yaw, _yaw_setpoint, _position,
_velocity_setpoint_feedback.xy(), _deltatime);
_stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint);
src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp
-7
View File
@@ -79,15 +79,8 @@ void FlightTaskManualPosition::_scaleSticks()
stick_xy(0) *= _param_mpc_vel_man_back.get() / _param_mpc_vel_manual.get();
}
const float max_speed_from_estimator = _sub_vehicle_local_position.get().vxy_max;
float velocity_scale = _param_mpc_vel_manual.get();
if (PX4_ISFINITE(max_speed_from_estimator)) {
// Constrain with optical flow limit but leave 0.3 m/s for repositioning
velocity_scale = math::constrain(velocity_scale, 0.3f, max_speed_from_estimator);
}
// scale velocity to its maximum limits
Vector2f vel_sp_xy = stick_xy * velocity_scale;