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Plane: Q_ACCEL_Z -> Q_PILOT_ACCEL_Z

This commit is contained in:
Andrew Tridgell 2024-01-19 13:40:25 +11:00
parent cfcd28bc8c
commit 108a0b77bd
5 changed files with 21 additions and 21 deletions
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4
ArduPlane/mode_qhover.cpp
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@ -6,8 +6,8 @@
bool ModeQHover::_enter() bool ModeQHover::_enter()
{ {
// set vertical speed and acceleration limits // set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z); pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z*100);
pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z); pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z*100);
quadplane.set_climb_rate_cms(0); quadplane.set_climb_rate_cms(0);
quadplane.init_throttle_wait(); quadplane.init_throttle_wait();

6
ArduPlane/mode_qloiter.cpp
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@ -10,8 +10,8 @@ bool ModeQLoiter::_enter()
loiter_nav->init_target(); loiter_nav->init_target();
// set vertical speed and acceleration limits // set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z); pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z*100);
pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z); pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z*100);
quadplane.init_throttle_wait(); quadplane.init_throttle_wait();
@ -66,7 +66,7 @@ void ModeQLoiter::run()
quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// set vertical speed and acceleration limits // set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z); pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z*100);
// process pilot's roll and pitch input // process pilot's roll and pitch input
float target_roll_cd, target_pitch_cd; float target_roll_cd, target_pitch_cd;

4
ArduPlane/qautotune.cpp
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@ -44,10 +44,10 @@ void QAutoTune::init_z_limits()
// set vertical speed and acceleration limits // set vertical speed and acceleration limits
plane.quadplane.pos_control->set_max_speed_accel_z(-plane.quadplane.get_pilot_velocity_z_max_dn(), plane.quadplane.pos_control->set_max_speed_accel_z(-plane.quadplane.get_pilot_velocity_z_max_dn(),
plane.quadplane.pilot_speed_z_max_up*100, plane.quadplane.pilot_speed_z_max_up*100,
plane.quadplane.pilot_accel_z); plane.quadplane.pilot_accel_z*100);
plane.quadplane.pos_control->set_correction_speed_accel_z(-plane.quadplane.get_pilot_velocity_z_max_dn(), plane.quadplane.pos_control->set_correction_speed_accel_z(-plane.quadplane.get_pilot_velocity_z_max_dn(),
plane.quadplane.pilot_speed_z_max_up*100, plane.quadplane.pilot_speed_z_max_up*100,
plane.quadplane.pilot_accel_z); plane.quadplane.pilot_accel_z*100);
} }

26
ArduPlane/quadplane.cpp
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@ -61,14 +61,14 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("PILOT_SPD_DN", 60, QuadPlane, pilot_speed_z_max_dn, 0), AP_GROUPINFO("PILOT_SPD_DN", 60, QuadPlane, pilot_speed_z_max_dn, 0),
// @Param: ACCEL_Z // @Param: PILOT_ACCEL_Z
// @DisplayName: Pilot vertical acceleration // @DisplayName: Pilot vertical acceleration
// @Description: The vertical acceleration used when pilot is controlling the altitude // @Description: The vertical acceleration used when pilot is controlling the altitude
// @Units: cm/s/s // @Units: m/s/s
// @Range: 50 500 // @Range: 0.5 5
// @Increment: 10 // @Increment: 0.1
// @User: Standard // @User: Standard
AP_GROUPINFO("ACCEL_Z", 19, QuadPlane, pilot_accel_z, 250), AP_GROUPINFO("PILOT_ACCEL_Z", 19, QuadPlane, pilot_accel_z, 2.5),
// @Group: WP_ // @Group: WP_
// @Path: ../libraries/AC_WPNav/AC_WPNav.cpp // @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
@ -827,7 +827,7 @@ bool QuadPlane::setup(void)
land_final_speed.convert_centi_parameter(AP_PARAM_INT16); land_final_speed.convert_centi_parameter(AP_PARAM_INT16);
pilot_speed_z_max_up.convert_centi_parameter(AP_PARAM_INT16); pilot_speed_z_max_up.convert_centi_parameter(AP_PARAM_INT16);
pilot_speed_z_max_dn.convert_centi_parameter(AP_PARAM_INT16); pilot_speed_z_max_dn.convert_centi_parameter(AP_PARAM_INT16);
pilot_accel_z.convert_centi_parameter(AP_PARAM_INT16);
tailsitter.setup(); tailsitter.setup();
@ -1024,7 +1024,7 @@ void QuadPlane::run_z_controller(void)
} }
if ((now - last_pidz_active_ms) > 20 || !pos_control->is_active_z()) { if ((now - last_pidz_active_ms) > 20 || !pos_control->is_active_z()) {
// set vertical speed and acceleration limits // set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z); pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
// initialise the vertical position controller // initialise the vertical position controller
if (!tailsitter.enabled()) { if (!tailsitter.enabled()) {
@ -1077,7 +1077,7 @@ void QuadPlane::hold_hover(float target_climb_rate_cms)
set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// set vertical speed and acceleration limits // set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z); pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
// call attitude controller // call attitude controller
multicopter_attitude_rate_update(get_desired_yaw_rate_cds(false)); multicopter_attitude_rate_update(get_desired_yaw_rate_cds(false));
@ -3099,8 +3099,8 @@ void QuadPlane::setup_target_position(void)
poscontrol.target_cm.z = plane.next_WP_loc.alt - origin.alt; poscontrol.target_cm.z = plane.next_WP_loc.alt - origin.alt;
// set vertical speed and acceleration limits // set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z); pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z); pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
} }
/* /*
@ -3349,8 +3349,8 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
throttle_wait = false; throttle_wait = false;
// set vertical speed and acceleration limits // set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z); pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z); pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
// initialise the vertical position controller // initialise the vertical position controller
pos_control->init_z_controller(); pos_control->init_z_controller();
@ -3367,7 +3367,7 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
// t_{constant} = \frac{d_{remaining}}{V_z} // t_{constant} = \frac{d_{remaining}}{V_z}
// t = max(t_{accel}, 0) + max(t_{constant}, 0) // t = max(t_{accel}, 0) + max(t_{constant}, 0)
const float d_total = (plane.next_WP_loc.alt - plane.current_loc.alt) * 0.01f; const float d_total = (plane.next_WP_loc.alt - plane.current_loc.alt) * 0.01f;
const float accel_m_s_s = MAX(10, pilot_accel_z) * 0.01f; const float accel_m_s_s = MAX(0.1, pilot_accel_z);
const float vel_max = MAX(0.1, pilot_speed_z_max_up); const float vel_max = MAX(0.1, pilot_speed_z_max_up);
const float vel_z = inertial_nav.get_velocity_z_up_cms() * 0.01f; const float vel_z = inertial_nav.get_velocity_z_up_cms() * 0.01f;
const float t_accel = (vel_max - vel_z) / accel_m_s_s; const float t_accel = (vel_max - vel_z) / accel_m_s_s;

2
ArduPlane/quadplane.h
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@ -217,7 +217,7 @@ private:
AP_Float pilot_speed_z_max_dn; AP_Float pilot_speed_z_max_dn;
// vertical acceleration the pilot may request // vertical acceleration the pilot may request
AP_Int16 pilot_accel_z; AP_Float pilot_accel_z;
// air mode state: OFF, ON, ASSISTED_FLIGHT_ONLY // air mode state: OFF, ON, ASSISTED_FLIGHT_ONLY
AirMode air_mode; AirMode air_mode;