From 066d1f50c45e0175c25579740decc5257d2d5162 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Thu, 25 Oct 2018 16:23:19 +0200
Subject: [PATCH] Auto traj - Add dedicated parameter to enable trajectory
smoothing in auto mode only
---
.../mc_pos_control/mc_pos_control_main.cpp | 3 ++-
.../mc_pos_control/mc_pos_control_params.c | 20 +++++++++++++++++++
2 files changed, 22 insertions(+), 1 deletion(-)
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 3118f2b9df..948562d82f 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -139,6 +139,7 @@ private:
(ParamFloat<px4::params::MPC_TKO_SPEED>) _tko_speed,
(ParamFloat<px4::params::MPC_LAND_ALT2>) MPC_LAND_ALT2, // altitude at which speed limit downwards reached minimum speed
(ParamInt<px4::params::MPC_POS_MODE>) MPC_POS_MODE,
+ (ParamInt<px4::params::MPC_AUTO_MODE>) MPC_AUTO_MODE,
(ParamInt<px4::params::MPC_ALT_MODE>) MPC_ALT_MODE,
(ParamFloat<px4::params::MPC_IDLE_TKO>) MPC_IDLE_TKO, /**< time constant for smooth takeoff ramp */
(ParamInt<px4::params::MPC_OBS_AVOID>) MPC_OBS_AVOID, /**< enable obstacle avoidance */
@@ -895,7 +896,7 @@ MulticopterPositionControl::start_flight_task()
} else if (_control_mode.flag_control_auto_enabled) {
// Auto relate maneuvers
int error = 0;
- switch (MPC_POS_MODE.get()) {
+ switch (MPC_AUTO_MODE.get()) {
case 0:
case 1:
case 2:
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 599895ab46..7fdd1b55b2 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -678,6 +678,26 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 0.4f);
*/
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.
*
--
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