mc_pos_control_params.c 17.91 KiB
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/**
* @file mc_pos_control_params.c
* Multicopter position controller parameters.
*
* @author Anton Babushkin <anton@px4.io>
*/
/**
* Minimum thrust in auto thrust control
*
* It's recommended to set it > 0 to avoid free fall with zero thrust.
*
* @unit norm
* @min 0.05
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
/**
* Hover thrust
*
* Vertical thrust required to hover.
* This value is mapped to center stick for manual throttle control.
* With this value set to the thrust required to hover, transition
* from manual to Altitude or Position mode while hovering will occur with the
* throttle stick near center, which is then interpreted as (near)
* zero demand for vertical speed.
*
* This parameter is also important for the landing detection to work correctly.
*
* @unit norm
* @min 0.1
* @max 0.8
* @decimal 2 * @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
/**
* Thrust curve in Manual Mode
*
* This parameter defines how the throttle stick input is mapped to commanded thrust
* in Manual/Stabilized flight mode.
*
* In case the default is used ('Rescale to hover thrust'), the stick input is linearly
* rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER).
*
* Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful
* in case the hover thrust is very low and the default would lead to too much distortion
* (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the
* upper half of the stick range).
*
* Note: in case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.
*
* @value 0 Rescale to hover thrust
* @value 1 No Rescale
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_THR_CURVE, 0);
/**
* Maximum thrust in auto thrust control
*
* Limit max allowed thrust
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
/**
* Minimum manual thrust
*
* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
* With MC_AIRMODE set to 1, this can safely be set to 0.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
/**
* Proportional gain for vertical position error
*
* @min 0.0
* @max 1.5
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
/**
* Proportional gain for vertical velocity error
*
* @min 0.1 * @max 0.4
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f);
/**
* Integral gain for vertical velocity error
*
* Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
*
* @min 0.01
* @max 0.1
* @decimal 3
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
/**
* Differential gain for vertical velocity error
*
* @min 0.0
* @max 0.1
* @decimal 3
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
/**
* Maximum vertical ascent velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
*
* @unit m/s
* @min 0.5
* @max 8.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.0f);
/**
* Maximum vertical descent velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
*
* @unit m/s
* @min 0.5
* @max 4.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.0f);
/**
* Proportional gain for horizontal position error
*
* @min 0.0
* @max 2.0
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);
/**
* Proportional gain for horizontal velocity error
*
* @min 0.06
* @max 0.15
* @decimal 2
* @group Multicopter Position Control */
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.09f);
/**
* Integral gain for horizontal velocity error
*
* Non-zero value allows to resist wind.
*
* @min 0.0
* @max 0.1
* @decimal 3
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
/**
* Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @min 0.005
* @max 0.1
* @decimal 3
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
/**
* Maximum horizontal velocity in mission
*
* Normal horizontal velocity in AUTO modes (includes
* also RTL / hold / etc.) and endpoint for
* position stabilized mode (POSCTRL).
*
* @unit m/s
* @min 3.0
* @max 20.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
/**
* Proportional gain for horizontal trajectory position error
*
* @min 0.1
* @max 5.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.3f);
/**
* Proportional gain for vertical trajectory position error
*
* @min 0.1
* @max 5.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_TRAJ_P, 0.3f);
/**
* Cruise speed when angle prev-current/current-next setpoint
* is 90 degrees. It should be lower than MPC_XY_CRUISE.
*
* Applies only in AUTO modes (includes
* also RTL / hold / etc.)
*
* @unit m/s
* @min 1.0 * @max 20.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_CRUISE_90, 3.0f);
/**
* Maximum horizontal velocity setpoint for manual controlled mode
* If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
* the setpoint will be capped to MPC_XY_VEL_MAX
*
* @unit m/s
* @min 3.0
* @max 20.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f);
/**
* Maximum horizontal velocity
*
* Maximum horizontal velocity in AUTO mode. If higher speeds
* are commanded in a mission they will be capped to this velocity.
*
* @unit m/s
* @min 0.0
* @max 20.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
/**
* Maximum tilt angle in air
*
* Limits maximum tilt in AUTO and POSCTRL modes during flight.
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
/**
* Maximum tilt during landing
*
* Limits maximum tilt angle on landing.
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
/**
* Landing descend rate
*
* @unit m/s
* @min 0.6
* @decimal 1
* @group Multicopter Position Control
*/PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
/**
* Takeoff climb rate
*
* @unit m/s
* @min 1
* @max 5
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
/**
* Maximal tilt angle in manual or altitude mode
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
/**
* Max manual yaw rate
*
* @unit deg/s
* @min 0.0
* @max 400
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 200.0f);
/**
* Deadzone of sticks where position hold is enabled
*
* @min 0.0
* @max 1.0
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
/**
* Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
*
* @unit m/s
* @min 0.0
* @max 3.0
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);
/**
* Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
*
* @unit m/s
* @min 0.0
* @max 3.0
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);
/**
* Low pass filter cut freq. for numerical velocity derivative
* * @unit Hz
* @min 0.0
* @max 10
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
/**
* Maximum horizontal acceleration for auto mode and maximum deceleration for manual mode
*
* @unit m/s/s
* @min 2.0
* @max 15.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f);
/**
* Acceleration for auto and for manual
*
* @unit m/s/s
* @min 2.0
* @max 15.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 5.0f);
/**
* Slow horizontal manual deceleration for manual mode
*
* @unit m/s/s
* @min 0.5
* @max 10.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_DEC_HOR_SLOW, 5.0f);
/**
* Horizontal acceleration in manual modes when te estimator speed limit is removed.
* If full stick is being applied and the estimator stops demanding a speed limit,
* which it had been before (e.g if GPS is gained while flying on optical flow/vision only),
* the vehicle will accelerate at this rate until the normal position control speed is achieved.
*
* @unit m/s/s
* @min 0.2
* @max 2.0
* @increment 0.1
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_ESTM, 0.5f);
/**
* Maximum vertical acceleration in velocity controlled modes upward
*
* @unit m/s/s
* @min 2.0
* @max 15.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 10.0f);
/**
* Maximum vertical acceleration in velocity controlled modes down
*
* @unit m/s/s
* @min 2.0
* @max 15.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 10.0f);
/**
* Maximum jerk limit
*
* Limit the maximum jerk of the vehicle (how fast the acceleration can change).
* A lower value leads to smoother vehicle motions, but it also limits its
* agility (how fast it can change directions or break).
*
* Setting this to the maximum value essentially disables the limit.
*
* Note: this is only used when MPC_POS_MODE is set to a smoothing mode.
*
* @unit m/s/s/s
* @min 0.5
* @max 500.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 20.0f);
/**
* Velocity-based jerk limit
*
* If this is not zero, a velocity-based maximum jerk limit is used: the applied
* jerk limit linearly increases with the vehicle's velocity between
* MPC_JERK_MIN (zero velocity) and MPC_JERK_MAX (maximum velocity).
*
* This means that the vehicle's motions are smooth for low velocities, but
* still allows fast direction changes or breaking at higher velocities.
*
* Set this to zero to use a fixed maximum jerk limit (MPC_JERK_MAX).
*
* Note: this is only used when MPC_POS_MODE is set to a smoothing mode.
*
* @unit m/s/s/s
* @min 0
* @max 30.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 8.0f);
/**
* Altitude control mode.
*
* Set to 0 to control height relative to the earth frame origin. This origin may move up and down in
* flight due to sensor drift.
* Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down
* with terrain height variation. Requires a distance to ground sensor. The height controller will
* revert to using height above origin if the distance to ground estimate becomes invalid as indicated
* by the local_position.distance_bottom_valid message being false.
* Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative
* to earth frame origin when moving horizontally.
* The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.
* * @min 0
* @max 2
* @value 0 Altitude following
* @value 1 Terrain following
* @value 2 Terrain hold
* @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.
*
* 0 Purely linear input curve (default)
* 1 Purely cubic input curve
*
* @min 0
* @max 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.0f);
/**
* Manual control stick vertical exponential curve
*
* The higher the value the less sensitivity the stick has around zero
* while still reaching the maximum value with full stick deflection.
*
* 0 Purely linear input curve (default)
* 1 Purely cubic input curve
*
* @min 0
* @max 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.0f);
/**
* Manual control stick yaw rotation exponential curve
*
* The higher the value the less sensitivity the stick has around zero
* while still reaching the maximum value with full stick deflection.
*
* 0 Purely linear input curve (default)
* 1 Purely cubic input curve
*
* @min 0
* @max 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.0f);
/**
* Altitude for 1. step of slow landing (descend)
*
* Below this altitude descending velocity gets limited
* to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED"
* to enable a smooth descent experience
* Value needs to be higher than "MPC_LAND_ALT2"
*
* @unit m
* @min 0
* @max 122
* @decimal 1
* @group Multicopter Position Control */
PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f);
/**
* Altitude for 2. step of slow landing (landing)
*
* Below this altitude descending velocity gets limited to "MPC_LAND_SPEED"
* Value needs to be lower than "MPC_LAND_ALT1"
*
* @unit m
* @min 0
* @max 122
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f);
/**
* Position control smooth takeoff ramp time constant
*
* Increasing this value will make automatic and manual takeoff slower.
* If it's too slow the drone might scratch the ground and tip over.
*
* @min 0.1
* @max 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 0.4f);
/**
* Manual-Position control sub-mode.
*
* The supported sub-modes are:
* 0 Default position control where sticks map to position/velocity directly. Maximum speeds
* is MPC_VEL_MANUAL.
* 1 Smooth position control where setpoints are adjusted based on acceleration limits
* and jerk limits.
* 2 Sport mode that is the same Default position control but with velocity limits set to
* the maximum allowed speeds (MPC_XY_VEL_MAX)
* 3 Smooth position control with maximum acceleration and jerk limits (different algorithm
* than 1).
*
* @value 0 Default position control
* @value 1 Smooth position control
* @value 2 Sport position control
* @value 3 Smooth position control (Velocity)
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_POS_MODE, 1);
/**
* Auto sub-mode.
*
* The supported sub-modes are:
* 0 Direct line tracking, no smoothing
*
* 1 Not used
*
* 2 Not used
*
* 3 Jerk-limited trajectory
*
* @value 0 Default line tracking
* @value 1 N/A
* @value 2 N/A
* @value 3 Jerk-limited trajectory
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_AUTO_MODE, 3);
/**
* Delay from idle state to arming state.
*
* For altitude controlled modes, the transition from
* idle to armed state is delayed by MPC_IDLE_TKO time to ensure
* that the propellers have reached idle speed before attempting a
* takeoff. This delay is particularly useful for vehicles with large
* propellers.
*
* @min 0
* @max 10
* @unit sec
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_IDLE_TKO, 0.0f);
/**
* Flag to enable obstacle avoidance
* Temporary Parameter to enable interface testing
*
* @boolean
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_OBS_AVOID, 0);
/**
* Yaw mode.
*
* Specifies the heading in Auto.
*
* @min 0
* @max 2
* @value 0 towards waypoint
* @value 1 towards home
* @value 2 away from home
* @value 3 along trajectory
* @group Mission
*/
PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);