yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

mc_pos_control: delete max altitude, which is not set by landdetector

Browse Source
This commit is contained in:
Dennis Mannhart
2017-02-27 16:32:16 +01:00
committed by Lorenz Meier
parent a1982e0392
commit ca84cc7439
2 changed files with 4 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@@ -208,7 +208,6 @@ private:
param_t alt_mode; param_t alt_mode;
param_t opt_recover; param_t opt_recover;
param_t xy_vel_man_expo; param_t xy_vel_man_expo;
param_t altitude_max;
} _params_handles; /**< handles for interesting parameters */ } _params_handles; /**< handles for interesting parameters */
struct { struct {
@@ -236,7 +235,6 @@ private:
float vel_max_up; float vel_max_up;
float vel_max_down; float vel_max_down;
float xy_vel_man_expo; float xy_vel_man_expo;
float altitude_max;
uint32_t alt_mode; uint32_t alt_mode;
int opt_recover; int opt_recover;
@@ -291,7 +289,6 @@ private:
float _vel_z_lp; float _vel_z_lp;
float _acc_z_lp; float _acc_z_lp;
float _takeoff_thrust_sp; float _takeoff_thrust_sp;
float _valid_altitude_max; /**< maximum altitude that can be reached based on several conditions */
// counters for reset events on position and velocity states // counters for reset events on position and velocity states
// they are used to identify a reset event // they are used to identify a reset event
@@ -539,9 +536,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.alt_mode = param_find("MPC_ALT_MODE"); _params_handles.alt_mode = param_find("MPC_ALT_MODE");
_params_handles.opt_recover = param_find("VT_OPT_RECOV_EN"); _params_handles.opt_recover = param_find("VT_OPT_RECOV_EN");
_params_handles.xy_vel_man_expo = param_find("MPC_XY_MAN_EXPO"); _params_handles.xy_vel_man_expo = param_find("MPC_XY_MAN_EXPO");
_params_handles.altitude_max = param_find("MPC_ALTITUDE_MAX");
_valid_altitude_max = _params_handles.altitude_max;
/* fetch initial parameter values */ /* fetch initial parameter values */
parameters_update(true); parameters_update(true);
@@ -659,11 +653,6 @@ MulticopterPositionControl::parameters_update(bool force)
_params.acc_down_max = v; _params.acc_down_max = v;
param_get(_params_handles.xy_vel_man_expo, &v); param_get(_params_handles.xy_vel_man_expo, &v);
_params.xy_vel_man_expo = v; _params.xy_vel_man_expo = v;
param_get(_params_handles.altitude_max, &v);
_params.altitude_max = v;
/* ToDo: the max altitude will be sent from navigator */
_valid_altitude_max = _params.altitude_max;
/* /*
* increase the maximum horizontal acceleration such that stopping * increase the maximum horizontal acceleration such that stopping
@@ -933,14 +922,14 @@ MulticopterPositionControl::limit_altitude()
float alt = _pos(2); float alt = _pos(2);
/* in altitude control, limit setpoint */ /* in altitude control, limit setpoint */
if (-alt >= _valid_altitude_max && _run_alt_control && _pos_sp(2) <= alt) { if (-alt >= _vehicle_land_detected.alt_max && _run_alt_control && _pos_sp(2) <= alt) {
_pos_sp(2) = -_valid_altitude_max; _pos_sp(2) = -_vehicle_land_detected.alt_max;
return; return;
} }
/* in velocity control in z, prevent vehicle from flying upwards if 0.5m close to altitude max*/ /* in velocity control in z, prevent vehicle from flying upwards if 0.5m close to altitude max*/
if (-alt + 0.5f >= _valid_altitude_max && !_run_alt_control && _vel_sp(2) <= 0.0f) { if (-alt + 0.5f >= _vehicle_land_detected.alt_max && !_run_alt_control && _vel_sp(2) <= 0.0f) {
_pos_sp(2) = -_valid_altitude_max; _pos_sp(2) = -_vehicle_land_detected.alt_max;;
_run_alt_control = true; _run_alt_control = true;
return; return;
} }

12
src/modules/mc_pos_control/mc_pos_control_params.c
View File

@@ -518,15 +518,3 @@ PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
* @group Multicopter Position Control * @group Multicopter Position Control
*/ */
PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.0f); PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.0f);
/**
* Maximum altitude that can be reached
*
* @unit m
* @min 5
* @max 150
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ALTITUDE_MAX, 10.0f);