From 713ba4587679c487f655cacf2134acd114b6f619 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 20 Mar 2017 18:09:49 +0100
Subject: [PATCH] mcpos_control: remove duplicate deadzone parameters
---
.../mc_pos_control/mc_pos_control_main.cpp | 26 +++++-----------
.../mc_pos_control/mc_pos_control_params.c | 31 ++-----------------
2 files changed, 10 insertions(+), 47 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 59a869af45..3a533144e4 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -174,7 +174,6 @@ private:
param_t thr_min;
param_t thr_max;
param_t thr_hover;
- param_t alt_ctl_dz;
param_t z_p;
param_t z_vel_p;
param_t z_vel_i;
@@ -198,8 +197,7 @@ private:
param_t man_yaw_max;
param_t global_yaw_max;
param_t mc_att_yaw_p;
- param_t hold_xy_dz;
- param_t hold_z_dz;
+ param_t hold_dz;
param_t hold_max_xy;
param_t hold_max_z;
param_t acc_hor_max;
@@ -214,7 +212,6 @@ private:
float thr_min;
float thr_max;
float thr_hover;
- float alt_ctl_dz;
float tilt_max_air;
float land_speed;
float tko_speed;
@@ -224,8 +221,7 @@ private:
float man_yaw_max;
float global_yaw_max;
float mc_att_yaw_p;
- float hold_xy_dz;
- float hold_z_dz;
+ float hold_dz;
float hold_max_xy;
float hold_max_z;
float acc_hor_max;
@@ -490,7 +486,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.thr_min = param_find("MPC_THR_MIN");
_params_handles.thr_max = param_find("MPC_THR_MAX");
_params_handles.thr_hover = param_find("MPC_THR_HOVER");
- _params_handles.alt_ctl_dz = param_find("MPC_ALTCTL_DZ");
_params_handles.z_p = param_find("MPC_Z_P");
_params_handles.z_vel_p = param_find("MPC_Z_VEL_P");
_params_handles.z_vel_i = param_find("MPC_Z_VEL_I");
@@ -514,8 +509,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.man_yaw_max = param_find("MPC_MAN_Y_MAX");
_params_handles.global_yaw_max = param_find("MC_YAWRATE_MAX");
_params_handles.mc_att_yaw_p = param_find("MC_YAW_P");
- _params_handles.hold_xy_dz = param_find("MPC_HOLD_XY_DZ");
- _params_handles.hold_z_dz = param_find("MPC_HOLD_Z_DZ");
+ _params_handles.hold_dz = param_find("MPC_HOLD_DZ");
_params_handles.hold_max_xy = param_find("MPC_HOLD_MAX_XY");
_params_handles.hold_max_z = param_find("MPC_HOLD_MAX_Z");
_params_handles.acc_hor_max = param_find("MPC_ACC_HOR_MAX");
@@ -575,7 +569,6 @@ MulticopterPositionControl::parameters_update(bool force)
param_get(_params_handles.thr_max, &_params.thr_max);
param_get(_params_handles.thr_hover, &_params.thr_hover);
_params.thr_hover = math::constrain(_params.thr_hover, _params.thr_min, _params.thr_max);
- param_get(_params_handles.alt_ctl_dz, &_params.alt_ctl_dz);
param_get(_params_handles.tilt_max_air, &_params.tilt_max_air);
_params.tilt_max_air = math::radians(_params.tilt_max_air);
param_get(_params_handles.land_speed, &_params.land_speed);
@@ -620,12 +613,9 @@ MulticopterPositionControl::parameters_update(bool force)
param_get(_params_handles.z_ff, &v);
v = math::constrain(v, 0.0f, 1.0f);
_params.vel_ff(2) = v;
- param_get(_params_handles.hold_xy_dz, &v);
+ param_get(_params_handles.hold_dz, &v);
v = math::constrain(v, 0.0f, 1.0f);
- _params.hold_xy_dz = v;
- param_get(_params_handles.hold_z_dz, &v);
- v = math::constrain(v, 0.0f, 1.0f);
- _params.hold_z_dz = v;
+ _params.hold_dz = v;
param_get(_params_handles.hold_max_xy, &v);
_params.hold_max_xy = (v < 0.0f ? 0.0f : v);
param_get(_params_handles.hold_max_z, &v);
@@ -943,7 +933,7 @@ MulticopterPositionControl::control_manual(float dt)
if (_control_mode.flag_control_altitude_enabled) {
/* set vertical velocity setpoint with throttle stick */
- req_vel_sp_z = -math::expo_deadzone((_manual.z - 0.5f) * 2.f, _z_vel_man_expo.get(), _params.alt_ctl_dz);
+ req_vel_sp_z = -math::expo_deadzone((_manual.z - 0.5f) * 2.f, _z_vel_man_expo.get(), _params.hold_dz);
/* reset alt setpoint to current altitude if needed */
reset_alt_sp();
@@ -951,8 +941,8 @@ MulticopterPositionControl::control_manual(float dt)
if (_control_mode.flag_control_position_enabled) {
/* set horizontal velocity setpoint with roll/pitch stick */
- req_vel_sp_xy(0) = math::expo_deadzone(_manual.x, _params.xy_vel_man_expo, _params.hold_xy_dz);
- req_vel_sp_xy(1) = math::expo_deadzone(_manual.y, _params.xy_vel_man_expo, _params.hold_xy_dz);
+ req_vel_sp_xy(0) = math::expo_deadzone(_manual.x, _params.xy_vel_man_expo, _params.hold_dz);
+ req_vel_sp_xy(1) = math::expo_deadzone(_manual.y, _params.xy_vel_man_expo, _params.hold_dz);
/* saturarate such that magnitude is never larger than 1 */
if (req_vel_sp_xy.length() > 1.0f) {
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 e36398dadd..f8446a1f9e 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -71,22 +71,6 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
*/
PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
-/**
- * ALTCTL throttle curve breakpoint
- *
- * Halfwidth of deadband or reduced sensitivity center portion of curve.
- * This is the halfwidth of the center region of the ALTCTL throttle
- * curve. It extends from center-dz to center+dz.
- *
- * @unit norm
- * @min 0.0
- * @max 0.2
- * @decimal 2
- * @increment 0.05
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_ALTCTL_DZ, 0.1f);
-
/**
* Maximum thrust in auto thrust control
*
@@ -380,25 +364,14 @@ PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f);
PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 200.0f);
/**
- * Deadzone of X,Y sticks where position hold is enabled
- *
- * @min 0.0
- * @max 1.0
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_HOLD_XY_DZ, 0.1f);
-
-
-/**
- * Deadzone of Z stick where altitude hold is enabled
+ * 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_Z_DZ, 0.1f);
+PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
/**
* Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
--
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