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AC_AttitudeControl: cleanup poscontrol comments with input from Leonard

This commit is contained in:
Andrew Tridgell 2021-06-23 10:03:09 +10:00
parent 889bd2547f
commit e191c48d9f
2 changed files with 7 additions and 28 deletions
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15
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -489,8 +489,6 @@ void AC_PosControl::init_xy()
/// The vel is projected forwards in time based on a time step of dt and acceleration accel. /// The vel is projected forwards in time based on a time step of dt and acceleration accel.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant. /// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant.
/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration.
/// The time constant also defines the time taken to achieve the maximum acceleration.
void AC_PosControl::input_vel_accel_xy(Vector2f& vel, const Vector2f& accel) void AC_PosControl::input_vel_accel_xy(Vector2f& vel, const Vector2f& accel)
{ {
// check for ekf xy position reset // check for ekf xy position reset
@ -507,9 +505,7 @@ void AC_PosControl::input_vel_accel_xy(Vector2f& vel, const Vector2f& accel)
/// input_pos_vel_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration. /// input_pos_vel_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration.
/// The pos and vel are projected forwards in time based on a time step of dt and acceleration accel. /// The pos and vel are projected forwards in time based on a time step of dt and acceleration accel.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant. /// The function alters the pos and vel to be the kinematic path based on accel
/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration.
/// The time constant also defines the time taken to achieve the maximum acceleration.
void AC_PosControl::input_pos_vel_accel_xy(Vector2f& pos, Vector2f& vel, const Vector2f& accel) void AC_PosControl::input_pos_vel_accel_xy(Vector2f& pos, Vector2f& vel, const Vector2f& accel)
{ {
// check for ekf xy position reset // check for ekf xy position reset
@ -750,10 +746,7 @@ void AC_PosControl::init_z()
/// input_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration. /// input_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration.
/// The vel is projected forwards in time based on a time step of dt and acceleration accel. /// The vel is projected forwards in time based on a time step of dt and acceleration accel.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_z and time constant. /// The function alters the vel to be the kinematic path based on accel
/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration.
/// The time constant also defines the time taken to achieve the maximum acceleration.
/// ignore_descent_limit turns off output saturation handling to aid in landing detection. ignore_descent_limit should be true unless landing.
void AC_PosControl::input_vel_accel_z(float &vel, const float accel, bool ignore_descent_limit) void AC_PosControl::input_vel_accel_z(float &vel, const float accel, bool ignore_descent_limit)
{ {
// check for ekf z position reset // check for ekf z position reset
@ -797,9 +790,7 @@ void AC_PosControl::set_pos_target_z_from_climb_rate_cm(const float vel, bool ig
/// input_pos_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration. /// input_pos_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration.
/// The pos and vel are projected forwards in time based on a time step of dt and acceleration accel. /// The pos and vel are projected forwards in time based on a time step of dt and acceleration accel.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_z and time constant. /// The function alters the pos and vel to be the kinematic path based on accel
/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration.
/// The time constant also defines the time taken to achieve the maximum acceleration.
void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, const float accel) void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, const float accel)
{ {
// check for ekf z position reset // check for ekf z position reset

20
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -54,8 +54,6 @@ public:
/// input_pos_vel_accel_xyz - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration. /// input_pos_vel_accel_xyz - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant. /// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant.
/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration.
/// The time constant also defines the time taken to achieve the maximum acceleration.
void input_pos_vel_accel_xyz(const Vector3f& pos); void input_pos_vel_accel_xyz(const Vector3f& pos);
/// ///
@ -91,17 +89,13 @@ public:
/// input_vel_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration. /// input_vel_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant. /// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant.
/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration. /// The function alters the vel to be the kinematic path based on accel
/// The time constant also defines the time taken to achieve the maximum acceleration.
/// The function alters the input velocity to be the velocity that the system could reach zero acceleration in the minimum time.
void input_vel_accel_xy(Vector2f& vel, const Vector2f& accel); void input_vel_accel_xy(Vector2f& vel, const Vector2f& accel);
/// input_pos_vel_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration. /// input_pos_vel_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant. /// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant.
/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration. /// The function alters the pos and vel to be the kinematic path based on accel
/// The time constant also defines the time taken to achieve the maximum acceleration.
/// The function alters the input velocity to be the velocity that the system could reach zero acceleration in the minimum time.
void input_pos_vel_accel_xy(Vector2f& pos, Vector2f& vel, const Vector2f& accel); void input_pos_vel_accel_xy(Vector2f& pos, Vector2f& vel, const Vector2f& accel);
// is_active_xy - returns true if the xy position controller has been run in the previous 5 loop times // is_active_xy - returns true if the xy position controller has been run in the previous 5 loop times
@ -163,10 +157,7 @@ public:
/// input_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration. /// input_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_z and time constant. /// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_z and time constant.
/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration. /// The function alters the vel to be the kinematic path based on accel
/// The time constant also defines the time taken to achieve the maximum acceleration.
/// The function alters the input velocitiy to be the velocity that the system could reach zero acceleration in the minimum time.
/// ignore_descent_limit turns off output saturation handling to aid in landing detection. ignore_descent_limit should be true unless landing.
virtual void input_vel_accel_z(float &vel, const float accel, bool ignore_descent_limit); virtual void input_vel_accel_z(float &vel, const float accel, bool ignore_descent_limit);
/// set_pos_target_z_from_climb_rate_cm - adjusts target up or down using a climb rate in cm/s /// set_pos_target_z_from_climb_rate_cm - adjusts target up or down using a climb rate in cm/s
@ -176,10 +167,7 @@ public:
/// input_pos_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration. /// input_pos_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_z and time constant. /// The function alters the pos and vel to be the kinematic path based on accel
/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration.
/// The time constant also defines the time taken to achieve the maximum acceleration.
/// The function alters the input velocity to be the velocity that the system could reach zero acceleration in the minimum time.
void input_pos_vel_accel_z(float &pos, float &vel, float accel); void input_pos_vel_accel_z(float &pos, float &vel, float accel);
/// set_alt_target_with_slew - adjusts target up or down using a commanded altitude in cm /// set_alt_target_with_slew - adjusts target up or down using a commanded altitude in cm