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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-22 13:02:22 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-24 20:33:32 +0100 |
| commit | a56c16dfab948517007ad570d67f02dd4e2edb60 (patch) | |
| tree | 724c2534edbbaba37271a3edc63248baa558fe9d /src/modules/mc_pos_control_multiplatform | |
| parent | f1c6b24f7a80f88baf272bc0b947f7e9649bee27 (diff) | |
| download | px4-firmware-a56c16dfab948517007ad570d67f02dd4e2edb60.tar.gz px4-firmware-a56c16dfab948517007ad570d67f02dd4e2edb60.tar.bz2 px4-firmware-a56c16dfab948517007ad570d67f02dd4e2edb60.zip | |
multiplatform port of #1741: move params from att control to pos control
Diffstat (limited to 'src/modules/mc_pos_control_multiplatform')
4 files changed, 47 insertions, 1 deletions
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp index 1fe75b90c..1c0298a07 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp @@ -82,7 +82,10 @@ MulticopterPositionControl::MulticopterPositionControl() : .xy_ff = px4::ParameterFloat("MPC_XY_FF", PARAM_MPC_XY_FF_DEFAULT), .tilt_max_air = px4::ParameterFloat("MPC_TILTMAX_AIR", PARAM_MPC_TILTMAX_AIR_DEFAULT), .land_speed = px4::ParameterFloat("MPC_LAND_SPEED", PARAM_MPC_LAND_SPEED_DEFAULT), - .tilt_max_land = px4::ParameterFloat("MPC_TILTMAX_LND", PARAM_MPC_TILTMAX_LND_DEFAULT) + .tilt_max_land = px4::ParameterFloat("MPC_TILTMAX_LND", PARAM_MPC_TILTMAX_LND_DEFAULT), + .man_roll_max = px4::ParameterFloat("MC_MAN_R_MAX", PARAM_MPC_MAN_R_MAX_DEFAULT), + .man_pitch_max = px4::ParameterFloat("MC_MAN_P_MAX", PARAM_MPC_MAN_P_MAX_DEFAULT), + .man_yaw_max = px4::ParameterFloat("MC_MAN_Y_MAX", PARAM_MPC_MAN_Y_MAX_DEFAULT) }), _ref_alt(0.0f), _ref_timestamp(0), @@ -146,6 +149,11 @@ MulticopterPositionControl::parameters_update() _params.land_speed = _params_handles.land_speed.update(); _params.tilt_max_land = math::radians(_params_handles.tilt_max_land.update()); + /* manual control scale */ + _params.man_roll_max = math::radians(_params_handles.man_roll_max.update()); + _params.man_pitch_max = math::radians(_params_handles.man_pitch_max.update()); + _params.man_yaw_max = math::radians(_params_handles.man_yaw_max.update()); + _params.pos_p(0) = _params.pos_p(1) = _params_handles.xy_p.update(); _params.pos_p(2) = _params_handles.z_p.update(); _params.vel_p(0) = _params.vel_p(1) = _params_handles.xy_vel_p.update(); diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.h b/src/modules/mc_pos_control_multiplatform/mc_pos_control.h index b754ccf01..59b663b9f 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.h +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.h @@ -126,6 +126,9 @@ protected: px4::ParameterFloat tilt_max_air; px4::ParameterFloat land_speed; px4::ParameterFloat tilt_max_land; + px4::ParameterFloat man_roll_max; + px4::ParameterFloat man_pitch_max; + px4::ParameterFloat man_yaw_max; } _params_handles; /**< handles for interesting parameters */ struct { @@ -134,6 +137,9 @@ protected: float tilt_max_air; float land_speed; float tilt_max_land; + float man_roll_max; + float man_pitch_max; + float man_yaw_max; math::Vector<3> pos_p; math::Vector<3> vel_p; diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c b/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c index c741a7f0a..709085662 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c @@ -210,3 +210,32 @@ PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND); */ PX4_PARAM_DEFINE_FLOAT(MPC_LAND_SPEED); +/** + * Max manual roll + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX); + +/** + * Max manual pitch + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX); + +/** + * Max manual yaw rate + * + * @unit deg/s + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX); + diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.h b/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.h index fec3bcb7c..8c8b707ae 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.h +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.h @@ -58,4 +58,7 @@ #define PARAM_MPC_TILTMAX_AIR_DEFAULT 45.0f #define PARAM_MPC_TILTMAX_LND_DEFAULT 15.0f #define PARAM_MPC_LAND_SPEED_DEFAULT 1.0f +#define PARAM_MPC_MAN_R_MAX_DEFAULT 35.0f +#define PARAM_MPC_MAN_P_MAX_DEFAULT 35.0f +#define PARAM_MPC_MAN_Y_MAX_DEFAULT 120.0f |