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@ -123,6 +123,8 @@ public:
@@ -123,6 +123,8 @@ public:
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(velocity_setpoint(2) > 0.0f) ? _z_vel_max_down.get() : _z_vel_max_up.get()); |
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velocity_setpoint = velocity_setpoint.emult(vel_scale); |
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/* smooth out velocity setpoint by slewrate and return it */ |
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vel_sp_slewrate(velocity_setpoint); |
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_set_velocity_setpoint(velocity_setpoint); |
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/* handle position and altitude hold */ |
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@ -196,15 +198,15 @@ private:
@@ -196,15 +198,15 @@ private:
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manual_stick_input _user_intention_z = brake; /**< what the user wants to do derived from stick input in z direction */ |
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float _manual_jerk_limit_xy = 1.f; /**< jerk limit in manual mode dependent on stick input */ |
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float _manual_jerk_limit_z = 1.f; /**< jerk limit in manual mode in z */ |
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float _acceleration_state_dependent_xy = 0.f; /* acceleration limit applied in manual mode */ |
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float _acceleration_state_dependent_z = 0.f; /* acceleration limit applied in manual mode in z */ |
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float _acceleration_state_dependent_xy = 0.2f; /* acceleration limit applied in manual mode */ |
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float _acceleration_state_dependent_z = 0.2f; /* acceleration limit applied in manual mode in z */ |
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systemlib::Hysteresis _manual_direction_change_hysteresis; |
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math::LowPassFilter2p _filter_manual_pitch; |
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math::LowPassFilter2p _filter_manual_roll; |
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void vel_sp_slewrate(matrix::Vector3f &_vel_sp) |
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void vel_sp_slewrate(matrix::Vector3f &vel_sp) |
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{ |
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matrix::Vector2f vel_sp_xy(_vel_sp(0), _vel_sp(1)); |
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matrix::Vector2f vel_sp_xy(vel_sp(0), vel_sp(1)); |
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matrix::Vector2f vel_sp_prev_xy(_vel_sp_prev(0), _vel_sp_prev(1)); |
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matrix::Vector2f vel_xy(_velocity(0), _velocity(1)); |
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matrix::Vector2f acc_xy = (vel_sp_xy - vel_sp_prev_xy) / _deltatime; |
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@ -212,20 +214,21 @@ private:
@@ -212,20 +214,21 @@ private:
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/* limit total horizontal acceleration */ |
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if (acc_xy.length() > _acceleration_state_dependent_xy) { |
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vel_sp_xy = _acceleration_state_dependent_xy * acc_xy.normalized() * _deltatime + vel_sp_prev_xy; |
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_vel_sp(0) = vel_sp_xy(0); |
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_vel_sp(1) = vel_sp_xy(1); |
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vel_sp(0) = vel_sp_xy(0); |
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vel_sp(1) = vel_sp_xy(1); |
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} |
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/* limit vertical acceleration */ |
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float acc_z = (_vel_sp(2) - _vel_sp_prev(2)) / _deltatime; |
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float acc_z = (vel_sp(2) - _vel_sp_prev(2)) / _deltatime; |
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float max_acc_z; |
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max_acc_z = (acc_z < 0.0f) ? -_acceleration_state_dependent_z : _acceleration_state_dependent_z; |
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max_acc_z = math::sign(acc_z) * _acceleration_state_dependent_z; |
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if (fabsf(acc_z) > fabsf(max_acc_z)) { |
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_vel_sp(2) = max_acc_z * _deltatime + _vel_sp_prev(2); |
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vel_sp(2) = max_acc_z * _deltatime + _vel_sp_prev(2); |
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} |
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_vel_sp_prev = vel_sp; |
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} |
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void set_manual_acceleration_xy(matrix::Vector2f &stick_xy) |
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