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mc_pos_control: migrate MPC_*_VEL_* parameter to acceleration scaling

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Before #14212 the velocity control gains used in the multicopter
position controller were defined as a scale between velocity error in
one axis (or it's integral and derivative respectively) and the unit
thrust vector. The problem with this is that the normalization of the
unit thrust vector changes per vehicle or even vehicle configuration
as 0 and 100% thrust get a different physical response. That's why
the gains are now defined as scale between velocity error
(integral/derivative) and the output acceleration in m/s².
This commit is contained in:
Matthias Grob
2020-04-27 15:44:40 +02:00
parent e482081f91
commit d92e66863a
25 changed files with 123 additions and 96 deletions
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src/lib/parameters/param_translation.cpp
+18
View File
@@ -41,6 +41,15 @@
bool param_modify_on_import(bson_node_t node)
{
// migrate MPC_*_VEL_* -> MPC_*_VEL_*_ACC (2020-04-27). This can be removed after the next release (current release=1.10)
if (node->type == BSON_DOUBLE) {
param_migrate_velocity_gain(node, "MPC_XY_VEL_P");
param_migrate_velocity_gain(node, "MPC_XY_VEL_I");
param_migrate_velocity_gain(node, "MPC_XY_VEL_D");
param_migrate_velocity_gain(node, "MPC_Z_VEL_P");
param_migrate_velocity_gain(node, "MPC_Z_VEL_I");
param_migrate_velocity_gain(node, "MPC_Z_VEL_D");
}
// migrate MC_DTERM_CUTOFF -> IMU_DGYRO_CUTOFF (2020-03-12). This can be removed after the next release (current release=1.10)
if (node->type == BSON_DOUBLE) {
@@ -148,3 +157,12 @@ bool param_modify_on_import(bson_node_t node)
return false;
}
void param_migrate_velocity_gain(bson_node_t node, const char *parameter_name)
{
if (strcmp(parameter_name, node->name) == 0) {
strcat(node->name, "_ACC");
node->d *= 20.0;
PX4_INFO("migrating %s (removed) -> %s: new value=%.3f", parameter_name, node->name, node->d);
}
}
src/lib/parameters/param_translation.h
+1
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@@ -36,3 +36,4 @@
#include "tinybson/tinybson.h"
__EXPORT bool param_modify_on_import(bson_node_t node);
__EXPORT void param_migrate_velocity_gain(bson_node_t node, const char *parameter_name);