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copter:acceleration limit in land

This commit is contained in:
Rahul 2024-04-27 15:42:06 +05:30
parent bc29550c9b
commit e479e35333
4 changed files with 29 additions and 6 deletions
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9
ArduCopter/Parameters.cpp
View File

@ -188,6 +188,15 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", WP_YAW_BEHAVIOR_DEFAULT), GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", WP_YAW_BEHAVIOR_DEFAULT),
// @Param: LAND_ACCEL
// @DisplayName: Land acceleration
// @Description: Limits maximum acceleration during landing. WPNAV_ACCEL is used if this parameter is zero
// @Units: cm/s/s
// @Range: 0 100
// @Increment: 1
// @User: Advanced
GSCALAR(land_accel_limit, "LAND_ACCEL", 0),
// @Param: LAND_SPEED // @Param: LAND_SPEED
// @DisplayName: Land speed // @DisplayName: Land speed
// @Description: The descent speed for the final stage of landing in cm/s // @Description: The descent speed for the final stage of landing in cm/s

4
ArduCopter/Parameters.h
View File

@ -381,13 +381,13 @@ public:
k_param_vehicle = 257, // vehicle common block of parameters k_param_vehicle = 257, // vehicle common block of parameters
k_param_throw_altitude_min, k_param_throw_altitude_min,
k_param_throw_altitude_max, k_param_throw_altitude_max,
k_param_land_accel_limit,
// the k_param_* space is 9-bits in size // the k_param_* space is 9-bits in size
// 511: reserved // 511: reserved
}; };
AP_Int16 format_version; AP_Int16 format_version;
AP_Float land_accel_limit;
// Telemetry control // Telemetry control
// //
AP_Int16 sysid_this_mav; AP_Int16 sysid_this_mav;

11
ArduCopter/mode_auto.cpp
View File

@ -409,8 +409,15 @@ bool ModeAuto::wp_start(const Location& dest_loc)
void ModeAuto::land_start() void ModeAuto::land_start()
{ {
// set horizontal speed and acceleration limits // set horizontal speed and acceleration limits
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration()); const float adjusted_acceleration = (float)copter.g.land_accel_limit;
pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
if (adjusted_acceleration > 0.0f){
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(),adjusted_acceleration );
pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), adjusted_acceleration);
} else {
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
}
// initialise the vertical position controller // initialise the vertical position controller
if (!pos_control->is_active_xy()) { if (!pos_control->is_active_xy()) {

11
ArduCopter/mode_land.cpp
View File

@ -7,8 +7,15 @@ bool ModeLand::init(bool ignore_checks)
control_position = copter.position_ok(); control_position = copter.position_ok();
// set horizontal speed and acceleration limits // set horizontal speed and acceleration limits
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration()); const float adjusted_acceleration = (float)copter.g.land_accel_limit;
pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
if (adjusted_acceleration > 0.0f){
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(),adjusted_acceleration );
pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), adjusted_acceleration);
} else {
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
}
// initialise the horizontal position controller // initialise the horizontal position controller
if (control_position && !pos_control->is_active_xy()) { if (control_position && !pos_control->is_active_xy()) {