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mc_att_control: output zero throttle in manual mode when landed 

- MPC_MANTHR_MIN is used as minimum throttle in attitude control mode when
the vehicle is in air. This is useful to retain some control around roll and
pitch axis if airmode is not enabled and the user demands zero throttle.
However, when the vehicle is landed there is not need to keep the throttle
at a higher value than zero.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2019-07-23 15:35:05 +02:00 committed by Roman Bapst
parent ac5669deb4
commit 2fbb70d9ca
1 changed files with 5 additions and 3 deletions
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8
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -209,15 +209,17 @@ MulticopterAttitudeControl::vehicle_attitude_poll()
float
MulticopterAttitudeControl::throttle_curve(float throttle_stick_input)
{
float throttle_min = _vehicle_land_detected.landed ? 0.0f : _param_mpc_manthr_min.get();
// throttle_stick_input is in range [0, 1]
switch (_param_mpc_thr_curve.get()) {
case 1: // no rescaling to hover throttle
return _param_mpc_manthr_min.get() + throttle_stick_input * (_param_mpc_thr_max.get() - _param_mpc_manthr_min.get());
return throttle_min + throttle_stick_input * (_param_mpc_thr_max.get() - throttle_min);
default: // 0 or other: rescale to hover throttle at 0.5 stick
if (throttle_stick_input < 0.5f) {
return (_param_mpc_thr_hover.get() - _param_mpc_manthr_min.get()) / 0.5f * throttle_stick_input +
_param_mpc_manthr_min.get();
return (_param_mpc_thr_hover.get() - throttle_min) / 0.5f * throttle_stick_input +
throttle_min;
} else {
return (_param_mpc_thr_max.get() - _param_mpc_thr_hover.get()) / 0.5f * (throttle_stick_input - 1.0f) +