From 709bd8cb28a214f40da7b0059909e01815a54b20 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 19 Apr 2017 15:49:35 +0200
Subject: [PATCH] mc_pos_control: combine separate pitch and roll maximum tilt
angles into one because there is no sense to have different angle scalings
into different directions it would lead to unintuitive piloting experience
acceleration is directly coupled to the tilt angle regardless of possible
assymetric multicopter vehicles
---
.../mc_pos_control/mc_pos_control_main.cpp | 20 +++++++------------
.../mc_pos_control/mc_pos_control_params.c | 15 ++------------
2 files changed, 9 insertions(+), 26 deletions(-)
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 92081e9c88..d562ecf515 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -176,8 +176,7 @@ private:
param_t land_speed;
param_t tko_speed;
param_t tilt_max_land;
- param_t man_roll_max;
- param_t man_pitch_max;
+ param_t man_tilt_max;
param_t man_yaw_max;
param_t global_yaw_max;
param_t mc_att_yaw_p;
@@ -197,8 +196,7 @@ private:
float land_speed;
float tko_speed;
float tilt_max_land;
- float man_roll_max;
- float man_pitch_max;
+ float man_tilt_max;
float man_yaw_max;
float global_yaw_max;
float mc_att_yaw_p;
@@ -495,9 +493,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.land_speed = param_find("MPC_LAND_SPEED");
_params_handles.tko_speed = param_find("MPC_TKO_SPEED");
_params_handles.tilt_max_land = param_find("MPC_TILTMAX_LND");
-
- _params_handles.man_roll_max = param_find("MPC_MAN_R_MAX");
- _params_handles.man_pitch_max = param_find("MPC_MAN_P_MAX");
+ _params_handles.man_tilt_max = param_find("MPC_MAN_TILT_MAX");
_params_handles.man_yaw_max = param_find("MPC_MAN_Y_MAX");
_params_handles.global_yaw_max = param_find("MC_YAWRATE_MAX");
@@ -629,12 +625,10 @@ MulticopterPositionControl::parameters_update(bool force)
/* mc attitude control parameters*/
/* manual control scale */
- param_get(_params_handles.man_roll_max, &_params.man_roll_max);
- param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
+ param_get(_params_handles.man_tilt_max, &_params.man_tilt_max);
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
param_get(_params_handles.global_yaw_max, &_params.global_yaw_max);
- _params.man_roll_max = math::radians(_params.man_roll_max);
- _params.man_pitch_max = math::radians(_params.man_pitch_max);
+ _params.man_tilt_max = math::radians(_params.man_tilt_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
_params.global_yaw_max = math::radians(_params.global_yaw_max);
@@ -2182,8 +2176,8 @@ MulticopterPositionControl::generate_attitude_setpoint(float dt)
/* control roll and pitch directly if no aiding velocity controller is active */
if (!_control_mode.flag_control_velocity_enabled) {
- _att_sp.roll_body = _manual.y * _params.man_roll_max;
- _att_sp.pitch_body = -_manual.x * _params.man_pitch_max;
+ _att_sp.roll_body = _manual.y * _params.man_tilt_max;
+ _att_sp.pitch_body = -_manual.x * _params.man_tilt_max;
/* only if optimal recovery is not used, modify roll/pitch */
if (_params.opt_recover <= 0) {
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 38d713af84..153b3c4356 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -359,7 +359,7 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.5f);
PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
/**
- * Max manual roll
+ * Maximal tilt angle in manual or altitude mode
*
* @unit deg
* @min 0.0
@@ -367,18 +367,7 @@ PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
* @decimal 1
* @group Multicopter Position Control
*/
-PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX, 35.0f);
-
-/**
- * Max manual pitch
- *
- * @unit deg
- * @min 0.0
- * @max 90.0
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f);
+PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
/**
* Max manual yaw rate
--
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