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mc_pos_control: new variable that defines speed in manual controlled mode

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This commit is contained in:
Dennis Mannhart
2017-03-30 15:44:38 +02:00
parent 232f428f6e
commit 8687d414bf
2 changed files with 17 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -2
View File
@@ -160,6 +160,7 @@ private:
control::BlockParamFloat _acceleration_hor_max; /**< maximum velocity setpoint slewrate while decelerating */
control::BlockParamFloat _deceleration_hor_max; /**< maximum velocity setpoint slewrate while decelerating */
control::BlockParamFloat _target_threshold_xy; /**< distance threshold for slowdown close to target during mission */
control::BlockParamFloat _velocity_hor_manual; /**< target velocity in manual controlled mode at full speed*/
control::BlockDerivative _vel_x_deriv;
control::BlockDerivative _vel_y_deriv;
@@ -440,6 +441,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_acceleration_hor_max(this, "ACC_HOR_MAX", true),
_deceleration_hor_max(this, "DEC_HOR_MAX", true),
_target_threshold_xy(this, "TARGET_THRE"),
_velocity_hor_manual(this, "VEL_MAN_MAX", true),
_vel_x_deriv(this, "VELD"),
_vel_y_deriv(this, "VELD"),
_vel_z_deriv(this, "VELD"),
@@ -1021,8 +1023,8 @@ MulticopterPositionControl::control_manual(float dt)
float yaw_input_fame = _control_mode.flag_control_fixed_hdg_enabled ? _yaw_takeoff : _att_sp.yaw_body;
/* prepare cruise speed (m/s) vector to scale the velocity setpoint */
matrix::Vector3f vel_cruise_scale(_params.vel_cruise_xy,
_params.vel_cruise_xy,
float vel_mag = (_velocity_hor_manual.get() < _vel_max_xy) ? _velocity_hor_manual.get() : _vel_max_xy;
matrix::Vector3f vel_cruise_scale(vel_mag, vel_mag,
(man_vel_sp(2) > 0.0f) ? _params.vel_max_down : _params.vel_max_up);
/* setpoint in NED frame and scaled to cruise velocity */
src/modules/mc_pos_control/mc_pos_control_params.c
+13 -1
View File
@@ -241,7 +241,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
/**
* Nominal horizontal velocity
* Nominal horizontal velocity in mission
*
* Normal horizontal velocity in AUTO modes (includes
* also RTL / hold / etc.) and endpoint for
@@ -256,6 +256,18 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
*/
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
/**
* Nominal horizontal velocity for manual controlled mode
*
* @unit m/s
* @min 3.0
* @max 20.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VEL_MAN_MAX, 10.0f);
/**
* Distance Threshold Horizontal Auto
*