From bb8be966fcaa484c0f8209da41760d4bc24d6c5f Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 1 Feb 2014 10:20:48 +0100 Subject: mc_pos_control: more safe tilt limiting --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 44 +++++++++++++--------- 1 file changed, 26 insertions(+), 18 deletions(-) (limited to 'src/modules/mc_pos_control') 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 057cb051d..3194534b9 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -839,30 +839,38 @@ MulticopterPositionControl::task_main() thr_min = 0.0f; } + float tilt_max = _params.tilt_max; + + /* adjust limits for landing mode */ + if (_control_mode.flag_control_auto_enabled && _pos_sp_triplet.current.valid && + _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { + /* limit max tilt and min lift when landing */ + tilt_max = _params.land_tilt_max; + if (thr_min < 0.0f) + thr_min = 0.0f; + } + + /* limit min lift */ if (-thrust_sp(2) < thr_min) { thrust_sp(2) = -thr_min; saturation_z = true; } - /* limit max tilt */ - float tilt = atan2f(math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(), -thrust_sp(2)); - float tilt_max = _params.tilt_max; - if (!_control_mode.flag_control_manual_enabled) { - if (_pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { - /* limit max tilt and min lift when landing */ - tilt_max = _params.land_tilt_max; - if (thr_min < 0.0f) - thr_min = 0.0f; - } - } - if (_control_mode.flag_control_velocity_enabled) { - if (tilt > tilt_max && thr_min >= 0.0f) { - /* crop horizontal component */ - float k = tanf(tilt_max) / tanf(tilt); - thrust_sp(0) *= k; - thrust_sp(1) *= k; - saturation_xy = true; + /* limit max tilt */ + if (thr_min >= 0.0f && tilt_max < M_PI / 2 - 0.05f) { + /* absolute horizontal thrust */ + float thrust_sp_xy_len = math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(); + if (thrust_sp_xy_len > 0.01f) { + /* max horizontal thrust for given vertical thrust*/ + float thrust_xy_max = -thrust_sp(2) * tanf(tilt_max); + if (thrust_sp_xy_len > thrust_xy_max) { + float k = thrust_xy_max / thrust_sp_xy_len; + thrust_sp(0) *= k; + thrust_sp(1) *= k; + saturation_xy = true; + } + } } } else { /* thrust compensation for altitude only control mode */ -- cgit v1.2.3