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mc_att_control_main: do not jump throttle scaling when taking off

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2fbb70d9ca made the lowest possible
throttle value commanded by stick in Stabilized mode before taking off 0.
The real world problem with this is that when takeoff is detected then
the entire throttle scaling range jumps from
[0, MPC_MANTHR_MIN]
to [MPC_MANTHR_MIN, MPC_MANTHR_MIN].
As a result whenever MPC_MANTHR_MIN is not zero there is a thrust jump
on every takeoff just at the moment takeoff is detected even when the
stick is moved continuously.

Because of this I suggest to revert to having a higher throttle value
from the beginning on because it's less complicated and there's
no obvious value in starting out with zero thrust if anyways not
possible to go back to zero for safety once takeoff is detected.
This commit is contained in:
Matthias Grob
2022-08-10 11:20:54 +02:00
parent 5b1b6f6080
commit 1f81101994
1 changed files with 2 additions and 4 deletions
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6
src/modules/mc_att_control/mc_att_control_main.cpp
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@@ -96,17 +96,15 @@ MulticopterAttitudeControl::parameters_updated()
float
MulticopterAttitudeControl::throttle_curve(float throttle_stick_input)
{
const float throttle_min = _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 math::gradual(throttle_stick_input, 0.f, 1.f, throttle_min, _param_mpc_thr_max.get());
return math::gradual(throttle_stick_input, 0.f, 1.f, _param_mpc_manthr_min.get(), _param_mpc_thr_max.get());
default: // 0 or other: rescale to hover throttle at 0.5 stick
return math::gradual3(throttle_stick_input,
0.f, .5f, 1.f,
throttle_min, _param_mpc_thr_hover.get(), _param_mpc_thr_max.get());
_param_mpc_manthr_min.get(), _param_mpc_thr_hover.get(), _param_mpc_thr_max.get());
}
}