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Fix max-hagl restriction to position/altitude control (#23667)

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* fix max-hagl restriction to position/altitude control

* max hagl vel restriction in ManAcc position mode

* use interpolate func, change naming

* simplyfied vertical vel limitation

* move velocity-constraint adjustment to StickAccelXY
This commit is contained in:
Marco Hauswirth
2025-01-20 15:50:21 +01:00
committed by GitHub
parent 0d22905558
commit 4a5aa1e947
15 changed files with 90 additions and 46 deletions
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msg/versioned/VehicleLocalPosition.msg
+6 -4
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@@ -77,10 +77,12 @@ float32 evv # Standard deviation of vertical velocity error, (metres/sec)
bool dead_reckoning # True if this position is estimated through dead-reckoning
# estimator specified vehicle limits
float32 vxy_max # maximum horizontal speed - set to 0 when limiting not required (meters/sec)
float32 vz_max # maximum vertical speed - set to 0 when limiting not required (meters/sec)
float32 hagl_min # minimum height above ground level - set to 0 when limiting not required (meters)
float32 hagl_max # maximum height above ground level - set to 0 when limiting not required (meters)
# set to INFINITY when limiting not required
float32 vxy_max # maximum horizontal speed (meters/sec)
float32 vz_max # maximum vertical speed (meters/sec)
float32 hagl_min # minimum height above ground level (meters)
float32 hagl_max_z # maximum height above ground level for z-control (meters)
float32 hagl_max_xy # maximum height above ground level for xy-control (meters)
# TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position
# TOPICS estimator_local_position