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FlightTaskAutoMapper: clarify influence of sticks

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This commit is contained in:
Matthias Grob
2020-07-15 15:25:53 +02:00
committed by Julian Kent
parent 079c5a11c2
commit 0d56035a46
4 changed files with 19 additions and 19 deletions
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19
src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
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@@ -180,22 +180,17 @@ bool FlightTaskAutoMapper::_highEnoughForLandingGear()
float FlightTaskAutoMapper::_getLandSpeed() float FlightTaskAutoMapper::_getLandSpeed()
{ {
float speed = 0; float land_speed = math::gradual(_dist_to_ground,
if (_dist_to_ground > _param_mpc_land_alt1.get()) {
speed = _constraints.speed_down;
} else {
const float land_speed = math::gradual(_dist_to_ground,
_param_mpc_land_alt2.get(), _param_mpc_land_alt1.get(), _param_mpc_land_alt2.get(), _param_mpc_land_alt1.get(),
_param_mpc_land_speed.get(), _constraints.speed_down); _param_mpc_land_speed.get(), _constraints.speed_down);
// user input assisted land speed // user input assisted land speed
if (_param_mpc_land_rc_help.get()) { if (_param_mpc_land_rc_help.get()
_sticks.evaluateSticks(_time_stamp_current); && (_dist_to_ground < _param_mpc_land_alt1.get())
speed = land_speed + _sticks.getPositionExpo()(2) * land_speed; && _sticks.evaluateSticks(_time_stamp_current)) {
} // stick full up -1 -> stop, stick full down 1 -> double the speed
land_speed *= (1 + _sticks.getPositionExpo()(2));
} }
return speed; return land_speed;
} }

4
src/lib/flight_tasks/tasks/Utility/Sticks.cpp
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@@ -43,7 +43,7 @@ Sticks::Sticks(ModuleParams *parent) :
ModuleParams(parent) ModuleParams(parent)
{}; {};
void Sticks::evaluateSticks(hrt_abstime now) bool Sticks::evaluateSticks(hrt_abstime now)
{ {
_sub_manual_control_setpoint.update(); _sub_manual_control_setpoint.update();
@@ -80,6 +80,8 @@ void Sticks::evaluateSticks(hrt_abstime now)
_positions.zero(); _positions.zero();
_positions_expo.zero(); _positions_expo.zero();
} }
return _input_available;
} }
void Sticks::applyGearSwitch(landing_gear_s &gear) void Sticks::applyGearSwitch(landing_gear_s &gear)

2
src/lib/flight_tasks/tasks/Utility/Sticks.hpp
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@@ -53,7 +53,7 @@ public:
Sticks(ModuleParams *parent); Sticks(ModuleParams *parent);
~Sticks() = default; ~Sticks() = default;
void evaluateSticks(hrt_abstime now); ///< checks and sets stick inputs bool evaluateSticks(hrt_abstime now); ///< checks and sets stick inputs
void applyGearSwitch(landing_gear_s &gear); ///< Sets gears according to switch void applyGearSwitch(landing_gear_s &gear); ///< Sets gears according to switch
bool isAvailable() { return _input_available; }; bool isAvailable() { return _input_available; };
const matrix::Vector<float, 4> &getPosition() { return _positions; }; const matrix::Vector<float, 4> &getPosition() { return _positions; };

7
src/modules/mc_pos_control/mc_pos_control_params.c
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@@ -359,8 +359,11 @@ PARAM_DEFINE_FLOAT(MPC_LAND_VEL_XY, 10.0f);
/** /**
* Enable user assisted descent speed for autonomous land routine. * Enable user assisted descent speed for autonomous land routine.
* When enabled, descent speed will be equal to MPC_LAND_SPEED at half throttle, *
* MPC_Z_VEL_MAX_DN at zero throttle, and 0.5 * MPC_LAND_SPEED at full throttle. * When enabled, descent speed will be:
* stick full up - 0
* stick centered - MPC_LAND_SPEED
* stick full down - 2 * MPC_LAND_SPEED
* *
* @min 0 * @min 0
* @max 1 * @max 1