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position_estimator_inav default parameters changed, some fixes

This commit is contained in:
Anton Babushkin 2013-06-28 12:58:12 +04:00
parent 7b73df6440
commit 8e732fc527
3 changed files with 12 additions and 1 deletions
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10
src/modules/multirotor_pos_control/multirotor_pos_control.c
View File

@ -209,6 +209,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
float pos_y_integral = 0.0f;
const float alt_ctl_dz = 0.2f;
const float pos_ctl_dz = 0.05f;
float home_alt = 0.0f;
hrt_abstime home_alt_t = 0;
thread_running = true;
@ -288,6 +290,14 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
float pos_sp_speed_z = 0.0f;
if (status.flag_control_manual_enabled) {
if (local_pos.home_timestamp != home_alt_t) {
if (home_alt_t != 0) {
/* home alt changed, don't follow large ground level changes in manual flight */
local_pos_sp.z -= local_pos.home_alt - home_alt;
}
home_alt_t = local_pos.home_timestamp;
home_alt = local_pos.home_alt;
}
/* move altitude setpoint with manual controls */
float alt_sp_ctl = scale_control(manual.throttle - 0.5f, 0.5f, alt_ctl_dz);
if (alt_sp_ctl != 0.0f) {

1
src/modules/position_estimator_inav/position_estimator_inav_main.c
View File

@ -391,6 +391,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
mavlink_log_info(mavlink_fd, "[inav] new home: alt = %.3f", baro_alt0);
local_pos.home_alt = baro_alt0;
local_pos.home_timestamp = hrt_absolute_time();
z_est[0] += sonar_corr;
sonar_corr = 0.0f;
sonar_corr_filtered = 0.0;
}

2
src/modules/position_estimator_inav/position_estimator_inav_params.c
View File

@ -49,7 +49,7 @@ PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 0.0f);
PARAM_DEFINE_FLOAT(INAV_W_POS_ACC, 10.0f);
PARAM_DEFINE_FLOAT(INAV_W_POS_FLOW, 10.0f);
PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.0f);
PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.5f);
PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.02f);
PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
int parameters_init(struct position_estimator_inav_param_handles *h)