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mc_pos_control: added exponential curve to manual x,y velocity setpoint

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controlled by parameter MPC_XY_MAN_EXPO that is disabled (0) by default
This commit is contained in:
Matthias Grob
2017-01-27 14:17:43 +01:00
committed by Lorenz Meier
parent 661832ca1d
commit c2be4b2b29
2 changed files with 23 additions and 2 deletions
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10
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -202,6 +202,7 @@ private:
param_t acc_down_max;
param_t alt_mode;
param_t opt_recover;
param_t xy_vel_man_expo;
} _params_handles; /**< handles for interesting parameters */
@@ -228,6 +229,7 @@ private:
float acc_down_max;
float vel_max_up;
float vel_max_down;
float xy_vel_man_expo;
uint32_t alt_mode;
int opt_recover;
@@ -523,6 +525,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.acc_down_max = param_find("MPC_ACC_DOWN_MAX");
_params_handles.alt_mode = param_find("MPC_ALT_MODE");
_params_handles.opt_recover = param_find("VT_OPT_RECOV_EN");
_params_handles.xy_vel_man_expo = param_find("MPC_XY_MAN_EXPO");
/* fetch initial parameter values */
parameters_update(true);
@@ -638,6 +641,9 @@ MulticopterPositionControl::parameters_update(bool force)
_params.acc_up_max = v;
param_get(_params_handles.acc_down_max, &v);
_params.acc_down_max = v;
param_get(_params_handles.xy_vel_man_expo, &v);
_params.xy_vel_man_expo = v;
/*
* increase the maximum horizontal acceleration such that stopping
* within 1 s from full speed is feasible
@@ -944,8 +950,8 @@ MulticopterPositionControl::control_manual(float dt)
if (_control_mode.flag_control_position_enabled) {
/* set horizontal velocity setpoint with roll/pitch stick */
req_vel_sp(0) = _manual.x;
req_vel_sp(1) = _manual.y;
req_vel_sp(0) = math::expo(_manual.x, _params.xy_vel_man_expo);
req_vel_sp(1) = math::expo(_manual.y, _params.xy_vel_man_expo);
}
if (_control_mode.flag_control_altitude_enabled) {

15
src/modules/mc_pos_control/mc_pos_control_params.c
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@@ -492,3 +492,18 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 5.0f);
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
/**
* Manual control stick exponential curve sensitivity attenuation with small velocity setpoints
*
* The higher the value the less sensitivity the stick has around zero
* while still reaching the maximum value with full stick deflection.
*
* @min 0
* @max 1
* @value 0 Purely linear input curve (default)
* @value 1 Purely cubic input curve
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.0f);