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Remove parameters MPC_{XY/Z/YAW}_MAN_EXPO and use default value instead

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This commit is contained in:
Matthias Grob
2025-09-04 15:40:01 +02:00
committed by Silvan Fuhrer
parent 5b94557310
commit 5c5bf0b83d
5 changed files with 6 additions and 65 deletions
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docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
-3
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@@ -677,7 +677,6 @@
1 1 MPC_VEL_MAN_SIDE -1.000000000000000000 9
1 1 MPC_XY_CRUISE 5.000000000000000000 9
1 1 MPC_XY_ERR_MAX 2.000000000000000000 9
1 1 MPC_XY_MAN_EXPO 0.600000023841857910 9
1 1 MPC_XY_P 0.949999988079071045 9
1 1 MPC_XY_TRAJ_P 0.500000000000000000 9
1 1 MPC_XY_VEL_ALL -10.000000000000000000 9
@@ -687,9 +686,7 @@
1 1 MPC_XY_VEL_P_ACC 1.799999952316284180 9
1 1 MPC_YAWRAUTO_ACC 60.000000000000000000 9
1 1 MPC_YAWRAUTO_MAX 45.000000000000000000 9
1 1 MPC_YAW_EXPO 0.600000023841857910 9
1 1 MPC_YAW_MODE 0 6
1 1 MPC_Z_MAN_EXPO 0.600000023841857910 9
1 1 MPC_Z_P 1.000000000000000000 9
1 1 MPC_Z_VEL_ALL -3.000000000000000000 9
1 1 MPC_Z_VEL_D_ACC 0.000000000000000000 9
src/lib/sticks/Sticks.hpp
+5 -8
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@@ -64,10 +64,10 @@ public:
float getYaw() const { return _positions(2); }
float getThrottleZeroCentered() const { return _positions(3); }
float getRollExpo() const { return math::expo_deadzone(getRoll(), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get()); }
float getPitchExpo() const { return math::expo_deadzone(getPitch(), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get()); }
float getYawExpo() const { return math::expo_deadzone(getYaw(), _param_mpc_yaw_expo.get(), _param_man_deadzone.get()); }
float getThrottleZeroCenteredExpo() const { return math::expo_deadzone(getThrottleZeroCentered(), _param_mpc_z_man_expo.get(), _param_man_deadzone.get()); }
float getRollExpo(float expo = .6f) const { return math::expo_deadzone(getRoll(), expo, _param_man_deadzone.get()); }
float getPitchExpo(float expo = .6f) const { return math::expo_deadzone(getPitch(), expo, _param_man_deadzone.get()); }
float getYawExpo(float expo = .6f) const { return math::expo_deadzone(getYaw(), expo, _param_man_deadzone.get()); }
float getThrottleZeroCenteredExpo(float expo = .6f) const { return math::expo_deadzone(getThrottleZeroCentered(), expo, _param_man_deadzone.get()); }
const matrix::Vector2f getPitchRoll() { return {getPitch(), getRoll()}; }
const matrix::Vector2f getPitchRollExpo() { return {getPitchExpo(), getRollExpo()}; }
@@ -98,9 +98,6 @@ private:
uORB::Subscription _failsafe_flags_sub{ORB_ID(failsafe_flags)};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MAN_DEADZONE>) _param_man_deadzone,
(ParamFloat<px4::params::MPC_XY_MAN_EXPO>) _param_mpc_xy_man_expo,
(ParamFloat<px4::params::MPC_Z_MAN_EXPO>) _param_mpc_z_man_expo,
(ParamFloat<px4::params::MPC_YAW_EXPO>) _param_mpc_yaw_expo
(ParamFloat<px4::params::MAN_DEADZONE>) _param_man_deadzone
)
};
src/modules/mc_att_control/mc_att_control.hpp
-1
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@@ -167,7 +167,6 @@ private:
(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,
(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover,
(ParamInt<px4::params::MPC_THR_CURVE>) _param_mpc_thr_curve,
(ParamFloat<px4::params::MPC_YAW_EXPO>) _param_mpc_yaw_expo,
(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time
)
src/modules/mc_att_control/mc_att_control_main.cpp
+1 -2
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@@ -146,8 +146,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt)
}
const float yaw = Eulerf(q).psi();
const float yaw_stick_input = math::expo_deadzone(_manual_control_setpoint.yaw, _param_mpc_yaw_expo.get(),
_param_man_deadzone.get());
const float yaw_stick_input = math::expo_deadzone(_manual_control_setpoint.yaw, .6f, _param_man_deadzone.get());
_stick_yaw.generateYawSetpoint(attitude_setpoint.yaw_sp_move_rate, _yaw_setpoint_stabilized, yaw_stick_input, yaw, dt,
_unaided_heading);
src/modules/mc_pos_control/multicopter_position_mode_params.c
-51
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@@ -129,54 +129,3 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f);
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.f);
/**
* 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
* 1 Purely cubic input curve
*
* @min 0
* @max 1
* @decimal 2
* @increment 0.01
* @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
* 1 Purely cubic input curve
*
* @min 0
* @max 1
* @decimal 2
* @increment 0.01
* @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
* 1 Purely cubic input curve
*
* @min 0
* @max 1
* @decimal 2
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.6f);