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MC position control: Smoother takeoff

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This patch ramps up the throttle to hover throttle instead of a fixed value and limits the vertical takeoff speed to the value set in the parameter. This should ensure smoother, slower takeoffs, in particular in autonomous flight modes.
This commit is contained in:
Lorenz Meier
2017-04-09 17:06:08 +02:00
parent 61cd89efc1
commit 3b743fbbe9
1 changed files with 13 additions and 6 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+13 -6
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@@ -1229,7 +1229,9 @@ MulticopterPositionControl::control_non_manual(float dt)
if (!_takeoff_jumped) {
// ramp thrust setpoint up
if (_vel(2) > -(_params.tko_speed / 2.0f)) {
_takeoff_thrust_sp += 0.5f * dt;
// ramp up to hover throttle in one second
_takeoff_thrust_sp += _params.thr_hover * dt;
_vel_sp.zero();
_vel_prev.zero();
@@ -1244,10 +1246,6 @@ MulticopterPositionControl::control_non_manual(float dt)
}
}
if (_takeoff_jumped) {
_vel_sp(2) = -_params.tko_speed;
}
} else {
_takeoff_jumped = false;
_takeoff_thrust_sp = 0.0f;
@@ -1781,8 +1779,17 @@ MulticopterPositionControl::control_position(float dt)
}
/* make sure velocity setpoint is saturated in z*/
if (_vel_sp(2) < -1.0f * _params.vel_max_up) {
if (_pos_sp_triplet.current.valid
&& _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF
&& _control_mode.flag_armed
&& _takeoff_jumped
&& (_vel_sp(2) < -_params.tko_speed)) {
_vel_sp(2) = -_params.tko_speed;
} else if (_vel_sp(2) < -1.0f * _params.vel_max_up) {
_vel_sp(2) = -1.0f * _params.vel_max_up;
}
_slow_land_gradual_velocity_limit();