Altitude FlightTask based on jerk-limited trajectory generator #11744
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velocity smoothing library to create a jerk-limited trajectory along the Z axis. This FlightTask is used when MPC_POS_MODE = 3.
bresch
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bkueng
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Apr 1, 2019
| _smoothing.setMaxVel(_constraints.speed_down); | ||
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| float jerk = _param_mpc_jerk_max.get(); |
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- does it make sense to use the same jerk limit as for xy?
- you overwrite
jerkbelow unconditionally
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We could have a different parameter for jerk Z but I think most people will leave it as is. I never had the feeling that I needed to adjust it until now.
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Right, I'll keep that in mind for the next iteration
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@bresch and I flew this yesterday and everything looked good. Flight log: https://review.px4.io/plot_app?log=cfcc49cc-c28a-4cf7-b0ce-153065957b71 |
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This FlightTask is a strip-down version of the PositionSmoothVel FlightTask in order to have consistent behavior between altitude and position controlled modes for a specific position sub-mode (
MPC_POS_MODE)This FlightTask is then used in altitude mode, when
MPC_POS_MODE= 3.There will come later a refactor of both AltitudeSmoothVel and PositionSmoothVel in order to reduce the amount of copy/paste between those two FlightTasks.
The plot below shows a SITL test where the first part (until the red vertical line) is Altitude mode and the second part (after the red vertical line) is Position mode.
Describe problem solved by the proposed pull request
When
MPC_POS_MODE= 3 (Smooth velocity), the behavior of the Z axis is different between the Altitude and Position controlled modes.Describe your preferred solution
Use the same algorithm for altitude and position control.