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mc_pos_control: pass on parameter metadata #21729

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merged 5 commits into from
Jun 26, 2023
Merged

mc_pos_control: pass on parameter metadata #21729

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843d6fe
mc_pos_control: separate parameter metadata into multiple files
MaEtUgR Jun 19, 2023
d01092c
mc_pos_control: improve parameter metadata
MaEtUgR Jun 19, 2023
d25938a
mc_pos_control: remove trailing zeroes
MaEtUgR Jun 22, 2023
6f16002
mc_pos_control_params: more gain & velocity decimals, more clear wording
MaEtUgR Jun 22, 2023
b34df9d
mc_pos_control_params: clarify maximum vertical velocity parameters
MaEtUgR Jun 22, 2023
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10 changes: 5 additions & 5 deletions src/modules/mc_pos_control/PositionControl/ControlMath.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,15 +83,15 @@ void bodyzToAttitude(Vector3f body_z, const float yaw_sp, vehicle_attitude_setpo
Vector3f body_x = y_C % body_z;

// keep nose to front while inverted upside down
if (body_z(2) < 0.0f) {
if (body_z(2) < 0.f) {
body_x = -body_x;
}

if (fabsf(body_z(2)) < 0.000001f) {
// desired thrust is in XY plane, set X downside to construct correct matrix,
// but yaw component will not be used actually
body_x.zero();
body_x(2) = 1.0f;
body_x(2) = 1.f;
}

body_x.normalize();
Expand Down Expand Up @@ -201,7 +201,7 @@ bool cross_sphere_line(const Vector3f &sphere_c, const float sphere_r,
// we have triangle CDX with known CD and CX = R, find DX
float dx_len = sqrtf(sphere_r * sphere_r - cd_len * cd_len);

if ((sphere_c - line_b) * ab_norm > 0.0f) {
if ((sphere_c - line_b) * ab_norm > 0.f) {
// target waypoint is already behind us
res = line_b;

Expand All @@ -218,12 +218,12 @@ bool cross_sphere_line(const Vector3f &sphere_c, const float sphere_r,
res = d; // go directly to line

// previous waypoint is still in front of us
if ((sphere_c - line_a) * ab_norm < 0.0f) {
if ((sphere_c - line_a) * ab_norm < 0.f) {
res = line_a;
}

// target waypoint is already behind us
if ((sphere_c - line_b) * ab_norm > 0.0f) {
if ((sphere_c - line_b) * ab_norm > 0.f) {
res = line_b;
}

Expand Down
4 changes: 2 additions & 2 deletions src/modules/mc_pos_control/PositionControl/PositionControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -152,8 +152,8 @@ void PositionControl::_velocityControl(const float dt)
_accelerationControl();

// Integrator anti-windup in vertical direction
if ((_thr_sp(2) >= -_lim_thr_min && vel_error(2) >= 0.0f) ||
(_thr_sp(2) <= -_lim_thr_max && vel_error(2) <= 0.0f)) {
if ((_thr_sp(2) >= -_lim_thr_min && vel_error(2) >= 0.f) ||
(_thr_sp(2) <= -_lim_thr_max && vel_error(2) <= 0.f)) {
vel_error(2) = 0.f;
}

Expand Down
2 changes: 1 addition & 1 deletion src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ TEST(TakeoffTest, RegularTakeoffRamp)
{
TakeoffHandling takeoff;
takeoff.setSpoolupTime(1.f);
takeoff.setTakeoffRampTime(2.0);
takeoff.setTakeoffRampTime(2.f);
takeoff.generateInitialRampValue(CONSTANTS_ONE_G / 0.5f);

// disarmed, landed, don't want takeoff
Expand Down
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