* Remove `MPC_USE_HTE` and always use hover thrust for altitude control
Note the separate module can still be not run but I have not seen a case where the hover thrust estimate is not useful for altitude control hence I don't expect anyone to have the parameter disabled or planning on not running the module.
This parameter was used to experimentally introduce the hover thrust estimator. First it was just logging its status and you could opt in to use it:
f9794e99f8
but soon after it became the default and you had to opt out of using it:
a8063ac948
AFAIK we haven't seen problems requiring to disable it in the last 5 years and hence I suggest to remove the parameter to reduce the configuration space.
* Update src/modules/land_detector/MulticopterLandDetector.cpp
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
* undo docs changes
* change redundant update() calls to copy()
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
When position control is disabled, clear the setpoint properly to prevent stale values. This fixes a bug where switching to position mode in the same control loop as a hover thrust estimate update could fill up the velocity integrator.
* MulticopterPositionControl: Add timeout before triggering emergency setpoint on invalid TrajectorySetpoint
* Apply suggestions from code review
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Cleanup & address review comments
* Safegaurd against using old setpoint if states aren't valid anymore
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Previously, when switching from a goto setpoint into a mode that publishes
trajectory_setpoint, the previous goto setpoint was still used for 500ms,
which then caused a setpoint jump.
This change makes sure that when a trajectory_setpoint is received, any
existing goto setpoint is marked as invalid immediately.
- MPC_VEL_LP: new velocity first order low pass filter (off by default)
- MPC_VEL_NF_FRQ/MPC_VEL_NF_BW: new velocity notch filter (off by default)
- MPC_VELD_LP: existing velocity derivative low pass filter, but I've dropped the remaining controllib usage
Using full 3D acceleration provides better horizontal acceleration
tracking but also creates a sometimes unwanted behavior because the tilt
is directly coupled with the vertical acceleration setpoint.
goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
once the rampup starts. The rampup requires a valid vertical velocity setpoint.
The corner case is:
- We are before takeoff and amending the setpoint to be 0,0,100 acceleration
in order to idle
- The rampup starts BUT the setpoint is not yet overwritten by the trajectory
setpoint topic
- The idle setpoint gets amended to not contain a feed-forward vertical
acceleration because the rampup is velocity based
- The result is a brief invalid 0,0,NAN acceleration setpoint
- That invalid setpoint gets overridden by a failsafe that holds zero velocity
- Zero velocity leads to applying ~hover thrust briefly
- trajectory_setpoint and vehicle_local_position_setpoint used to be
the same data type
- we got extremely lucky here that this didn't cause any issues due to
all the fields still aligning
This is a combination of the originally introduced delay:
06c10f61c1
then the emergency failsafe being changed to not just land,
position control being rescheduled to not overwrite every setpoint in:
e502214429
and it being fixed by overwriting the setpoint but not removing
the long obsolete hystersis here:
114e85d260
The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.
This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
This reverts commit 446598d003.
The first warning was due to a race condition that is fixed by the previous commit;
don't omit the first warning anymore
Only modify the _setpoint for takeoff when there is a new uORB message
to avoid a race condition where both vel_sp(2) and accel_sp(2) can be
NAN at the same time.
