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mc_pos_control: Add parameter support for terrain hold function

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This new mode of altitude control uses terrain following when holding position and normal altitude control when moving.
This commit is contained in:
Paul Riseborough
2018-07-04 14:34:46 +10:00
committed by Paul Riseborough
parent 14a8afb61d
commit 82780e33b9
1 changed files with 26 additions and 6 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+26 -6
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@@ -504,20 +504,40 @@ PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 1.0f);
/**
* Altitude control mode.
*
* Set to 1 to control height above ground instead of height above origin.
* Note: If optical flow is being used as the only source of navigation then the height above ground
* will be selected automatically and maximum height will be limited to the value set by MPC_MAX_FLOW_HGT.
* Note: The height controller will revert to using height above origin if the distance to ground estimate
* becomes invalid as indicated by the local_position.distance_bottom_valid message being false.
* Set to 0 to control height relative to the earth frame origin. This origin may move up and down in
* flight due to sensor drift.
* Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down
* with terrain height variation. Requires a distance to ground sensor. The height controller will
* revert to using height above origin if the distance to ground estimate becomes invalid as indicated
* by the local_position.distance_bottom_valid message being false.
* Set to 2 to control height relative to earth frame origin when stationary and relative to ground
* distance when moving horizontally. The speed threshold is controlled by the MPC_ALT_MODE_SPD parameter.
*
* @min 0
* @max 1
* @max 2
* @value 0 Altitude following
* @value 1 Terrain following
* @value 2 Terrain hold
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
/**
* Terrain hold speed threshold.
*
* Controls the horizontal speed threshold used when MPC_ALT_MODE = 2. When MPC_ALT_MODE = 2,
* the distance to ground will not be used to control height when horizontal speed is greater
* than MPC_ALT_MODE_SPD.
*
* @unit m/s
* @min 0.2
* @max 2.0
* @increment 0.1
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ALT_MODE_SPD, 0.5f);
/**
* Manual control stick exponential curve sensitivity attenuation with small velocity setpoints
*