UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-26 16:28:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix(fw_mode_manager): honor DO_CHANGE_SPEED in manual airspeed modes (#27494)

Browse Source 
* fix(fw_mode_manager): honor DO_CHANGE_SPEED in manual airspeed modes

Re-anchor the throttle-stick airspeed interpolation on the last
MAV_CMD_DO_CHANGE_SPEED value (falling back to FW_AIRSPD_TRIM if none).
Previously, _commanded_manual_airspeed_setpoint was stored but never
read when FW_POS_STK_CONF bit 1 was set (the default), so
DO_CHANGE_SPEED had no effect in Position/Altitude.

With this change:
- Stick centered = commanded cruise speed (= FW_AIRSPD_TRIM if no command).
- Stick deflection deviates from cruise between FW_AIRSPD_MIN/MAX.
- Disconnecting the controller collapses the interpolation to the cruise
  (Sticks zeroes the throttle channel on manual_control_signal_lost).
- No setpoint jump when a controller is plugged in with stick centered.
- No behavior change for users who never send DO_CHANGE_SPEED.

* fix(fw_mode_manager): clear DO_CHANGE_SPEED override on mode change

Reset _commanded_manual_airspeed_setpoint to NaN when entering a
manual airspeed mode from outside the manual airspeed pair, so a
prior MAV_CMD_DO_CHANGE_SPEED does not silently anchor the manual
airspeed setpoint after the pilot has left and re-entered manual
airspeed control. Toggling between Position and Altitude preserves
the commanded value since both modes share the same airspeed mechanic.

Also fold in a make-format whitespace fix in get_manual_airspeed_setpoint.

* docs(flight_modes_fw): document DO_CHANGE_SPEED in manual airspeed modes

Describe how MAV_CMD_DO_CHANGE_SPEED re-anchors the throttle-stick cruise
airspeed in Position and Altitude mode, matching the new behavior in the
fw_mode_manager. Covers the centered-stick anchor, deflection scaling
between FW_AIRSPD_MIN/MAX, the shared setpoint across both modes, and the
reset to trim when entering from any other mode.

Signed-off-by: Gregor Hohl <gregor.hohl@auterion.com>

* Subedit

* fix(fw_mode_manager): reset DO_CHANGE_SPEED override on any mode change

Reset _commanded_manual_airspeed_setpoint to NaN whenever the position
control mode changes, instead of only when entering manual airspeed
control from outside the Position/Altitude pair. This makes the manual
airspeed setpoint revert to FW_AIRSPD_TRIM on every mode change,
including toggling between Position and Altitude, for predictable
behavior.

Signed-off-by: Gregor Hohl <gregor.hohl@auterion.com>

* docs(flight_modes_fw): note manual airspeed resets on mode change

Clarify that the commanded airspeed defaults to FW_AIRSPD_TRIM when no
airspeed has been commanded, and document that the commanded airspeed
resets on every flight mode change.

Signed-off-by: Gregor Hohl <gregor.hohl@auterion.com>

* docs(flight_modes_fw): clarify DO_CHANGE_SPEED param1/param2 handling

Signed-off-by: Gregor Hohl <gregor.hohl@auterion.com>

---------

Signed-off-by: Gregor Hohl <gregor.hohl@auterion.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
This commit is contained in:
ghohl-30
2026-06-16 16:43:08 +02:00
committed by GitHub
parent 13e74de617
commit 5a0082b6ed
3 changed files with 43 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
docs/en/flight_modes_fw/altitude.md
View File

@@ -57,6 +57,21 @@ The mode is affected by the following parameters:
| <a id="FW_T_CLMB_R_SP"></a>[FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP) | Max climb rate setpoint. Default: 3 m/s. |
| <a id="FW_T_SINK_R_SP"></a>[FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP) | Max sink rate setpoint. Default: 2 m/s. |
## MAVLink Commands
The following commands are relevant to this mode:
- [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED) — Sets the cruise airspeed for centred throttle stick.
This requires an airspeed sensor.
Only the airspeed speed type is handled (`param1` must be `0`); other speed types are ignored.
At centered throttle the vehicle holds the commanded airspeed (`param2`) if a positive value is set (non-positive values are ignored).
The value is constrained between [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) and [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX), and defaults to [FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) if no airspeed has been commanded.
Deflecting the throttle stick scales the airspeed toward `FW_AIRSPD_MIN` (back) or `FW_AIRSPD_MAX` (forward) around this value.
The commanded airspeed resets to `FW_AIRSPD_TRIM` on every flight mode change.
Note, other commands may be supported.
<!--
FW notes:
FW position controller is basically 2 independent pieces

15
docs/en/flight_modes_fw/position.md
View File

@@ -51,3 +51,18 @@ The mode is affected by the following parameters:
| <a id="FW_T_CLMB_R_SP"></a>[FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP) | Max climb rate setpoint. Default: 3 m/s. |
| <a id="FW_T_SINK_R_SP"></a>[FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP) | Max sink rate setpoint. Default: 2 m/s. |
| <a id="FW_PN_R_SLEW_MAX"></a>[FW_PN_R_SLEW_MAX](../advanced_config/parameter_reference.md#FW_PN_R_SLEW_MAX) | Roll setpoint slew rate limit. Default: 90 °/s. |
## MAVLink Commands
The following commands are relevant to this mode:
- [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED) — Sets the cruise airspeed for centred throttle stick.
This requires an airspeed sensor.
Only the airspeed speed type is handled (`param1` must be `0`); other speed types are ignored.
At centered throttle the vehicle holds the commanded airspeed (`param2`) if a positive value is set (non-positive values are ignored).
The value is constrained between [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) and [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX), and defaults to [FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) if no airspeed has been commanded.
Deflecting the throttle stick scales the airspeed toward `FW_AIRSPD_MIN` (back) or `FW_AIRSPD_MAX` (forward) around this value.
The commanded airspeed resets to `FW_AIRSPD_TRIM` on every flight mode change.
Note, other commands may be supported.