mc_pos_control: max deceleration as default

PX4 · Mar 27, 2017 · 2da9fd6 · 2da9fd6
1 parent e73eec7
commit 2da9fd6
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Showing 2 changed files with 20 additions and 13 deletions.
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1372,20 +1372,26 @@ MulticopterPositionControl::vel_sp_slewrate(float dt)
 	matrix::Vector2f vel_xy(_vel(0), _vel(1));
 	matrix::Vector2f acc_xy = (vel_sp_xy - vel_sp_prev_xy) / dt;
 
-	float acc_limit = _acceleration_hor_max.get();
+	/* as default we use max deceleration as acc limit */
+	float acc_limit = _deceleration_hor_max.get();
 
-	/* deceleration but no direction change and not position control*/
-	bool slow_deceleration = ((acc_xy * vel_xy) < 0.0f) && ((vel_sp_xy * vel_xy) > 0.0f) && !_run_pos_control;
+	if (_control_mode.flag_control_manual_enabled) {
+		/* default for manual */
+		acc_limit = _acceleration_hor_max.get();
 
-	/* deceleration with direction change and not position control*/
-	bool fast_deceleration = ((acc_xy * vel_xy) < 0.0f) && ((vel_sp_xy * vel_xy) <= 0.0f) && !_run_pos_control;
+		/* deceleration but no direction change and not position control*/
+		bool slow_deceleration = ((acc_xy * vel_xy) < 0.0f) && ((vel_sp_xy * vel_xy) > 0.0f) && !_run_pos_control;
 
-	if (slow_deceleration) {
-		acc_limit = _deceleration_hor_slow.get();
-	}
+		/* deceleration with direction change and not position control*/
+		bool fast_deceleration = ((acc_xy * vel_xy) < 0.0f) && ((vel_sp_xy * vel_xy) <= 0.0f) && !_run_pos_control;
 
-	if (fast_deceleration) {
-		acc_limit = _deceleration_hor_max.get();
+		if (slow_deceleration) {
+			acc_limit = _deceleration_hor_slow.get();
+		}
+
+		if (fast_deceleration) {
+			acc_limit = _deceleration_hor_max.get();
+		}
 	}
 
 	/* limit total horizontal acceleration */

diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -423,7 +423,7 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);
 PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
 
 /**
- * Maximum horizonal acceleration in velocity controlled modes
+ * Maximum horizonal manual acceleration in velocity controlled modes
  *
  * @unit m/s/s
  * @min 2.0
@@ -435,7 +435,8 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
 PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
 
 /**
- * Maximum horizontal braking deceleration in velocity controlled modes
+ * Maximum horizontal manual braking deceleration in velocity controlled modes
+ * Maximum acceleration for non-manual control modes
  *
  * @unit m/s/s
  * @min 2.0
@@ -447,7 +448,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
 PARAM_DEFINE_FLOAT(MPC_DEC_HOR_MAX, 10.0f);
 
 /**
- * Slow horizontal braking deceleration in velocity controlled modes
+ * Slow horizontal manual braking deceleration in velocity controlled modes
  *
  * @unit m/s/s
  * @min 0.5