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Position Control Limit Handling #22428

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merged 9 commits into from Dec 30, 2022
Merged

Position Control Limit Handling #22428

merged 9 commits into from Dec 30, 2022

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lthall
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@lthall lthall commented Dec 17, 2022

This PR improves the handling of limits in the position controller and clarifies some of the code.

  1. Fixes problem where limits can result in the aircraft overshooting the stopping point. This was seen during a landing where the aircraft becomes limited during the early deceleration phase. This slides the stopping point past the intended altitude resulting in a possible "hard landing".
  2. Moves the removal of ignore_descent_limit from input_vel_accel_z to land_at_climb_rate_cm (a better name would be nice). This simplifies the use of input_vel_accel_z for the vast majority of use cases and clarifies the use of land_at_climb_rate_cm.
  3. A few efficiency clean ups
  4. Math library changes to support 1.
  5. Math library changes to prevent limits from altering the velocity vector direction.

IamPete1
IamPete1 reviewed Dec 17, 2022
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ArduPlane/quadplane.cpp Outdated Show resolved Hide resolved
@lthall lthall force-pushed the 20221217_PosControl_Limit_Handling branch 2 times, most recently from 865d91d to 2263292 Compare December 19, 2022 14:17
tridge
tridge requested changes Dec 20, 2022
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i'll help with a test suite for these

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@lthall lthall requested a review from tridge December 23, 2022 00:45
@lthall lthall force-pushed the 20221217_PosControl_Limit_Handling branch from 2411254 to 1f3b9d3 Compare December 23, 2022 10:22
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tridge commented Dec 27, 2022

@rmackay9 needs your approval

@lthall lthall force-pushed the 20221217_PosControl_Limit_Handling branch from 1f3b9d3 to 414b950 Compare December 27, 2022 05:13
@lthall lthall force-pushed the 20221217_PosControl_Limit_Handling branch from 414b950 to 3a73c41 Compare December 30, 2022 10:01
@rmackay9 rmackay9 merged commit aeb25ca into ArduPilot:master Dec 30, 2022
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Merged, thanks!

@rmackay9 rmackay9 added this to Pending in Copter 4.3 Jan 3, 2023
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rmackay9 commented Jan 7, 2023

This is included in 4.3.3-rc1

@rmackay9 rmackay9 moved this from Pending to 4.3.3-rc1 in Copter 4.3 Jan 7, 2023
@lthall lthall deleted the 20221217_PosControl_Limit_Handling branch August 9, 2023 05:15
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@rmackay9 rmackay9 rmackay9 left review comments

@tridge tridge tridge approved these changes

@IamPete1 IamPete1 Awaiting requested review from IamPete1

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4.3 Backport Safety TradHeli VTOL-Plane
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Copter 4.3
4.3.3-rc1
Plane 4.3
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@lthall @tridge @rmackay9 @IamPete1 @CraigElder