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Merge pull request #9428 from iNavFlight/MrD_Make-min-ground-speed-a-parameter

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Darren Lines 2023-12-06 23:33:02 +00:00 • committed by GitHub
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6 changed files with 22 additions and 7 deletions
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10
docs/Settings.md
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@ -3692,6 +3692,16 @@ When ON, NAV engine will slow down when switching to the next waypoint. This pri
---
### nav_min_ground_speed
Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s.
| Default | Min | Max |
| --- | --- | --- |
| 7 | 6 | 50 |
---
### nav_min_rth_distance
Minimum distance from homepoint when RTH full procedure will be activated [cm]. Below this distance, the mode will activate at the current location and the final phase is executed (loiter / land). Above this distance, the full procedure is activated, which may include initial climb and flying directly to the homepoint before entering the loiter / land phase.

6
src/main/fc/settings.yaml
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@ -2486,6 +2486,12 @@ groups:
field: general.auto_speed
min: 10
max: 2000
- name: nav_min_ground_speed
description: "Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s."
default_value: 7
field: general.min_ground_speed
min: 6
max: 50
- name: nav_max_auto_speed
description: "Maximum speed allowed in fully autonomous modes (RTH, WP) [cm/s] [Multirotor only]"
default_value: 1000

3
src/main/navigation/navigation.c
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@ -97,7 +97,7 @@ STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_rang
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 2);
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 5);
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 6);
PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
@ -132,6 +132,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
#endif
.waypoint_load_on_boot = SETTING_NAV_WP_LOAD_ON_BOOT_DEFAULT, // load waypoints automatically during boot
.auto_speed = SETTING_NAV_AUTO_SPEED_DEFAULT, // speed in autonomous modes (3 m/s = 10.8 km/h)
.min_ground_speed = SETTING_NAV_MIN_GROUND_SPEED_DEFAULT, // Minimum ground speed (m/s)
.max_auto_speed = SETTING_NAV_MAX_AUTO_SPEED_DEFAULT, // max allowed speed autonomous modes
.max_auto_climb_rate = SETTING_NAV_AUTO_CLIMB_RATE_DEFAULT, // 5 m/s
.max_manual_speed = SETTING_NAV_MANUAL_SPEED_DEFAULT,

1
src/main/navigation/navigation.h
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@ -245,6 +245,7 @@ typedef struct navConfig_s {
#endif
bool waypoint_load_on_boot; // load waypoints automatically during boot
uint16_t auto_speed; // autonomous navigation speed cm/sec
uint8_t min_ground_speed; // Minimum navigation ground speed [m/s]
uint16_t max_auto_speed; // maximum allowed autonomous navigation speed cm/sec
uint16_t max_auto_climb_rate; // max vertical speed limitation cm/sec
uint16_t max_manual_speed; // manual velocity control max horizontal speed

7
src/main/navigation/navigation_fixedwing.c
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@ -60,9 +60,8 @@
#define NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ 2.0f
#define NAV_FW_BASE_ROLL_CUTOFF_FREQUENCY_HZ 10.0f
// If we are going slower than NAV_FW_MIN_VEL_SPEED_BOOST - boost throttle to fight against the wind
// If we are going slower than the minimum ground speed (navConfig()->general.min_ground_speed) - boost throttle to fight against the wind
#define NAV_FW_THROTTLE_SPEED_BOOST_GAIN 1.5f
#define NAV_FW_MIN_VEL_SPEED_BOOST 700.0f // 7 m/s
// If this is enabled navigation won't be applied if velocity is below 3 m/s
//#define NAV_FW_LIMIT_MIN_FLY_VELOCITY
@ -552,10 +551,10 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
previousTimePositionUpdate = currentTimeUs;
if (deltaMicrosPositionUpdate < MAX_POSITION_UPDATE_INTERVAL_US) {
float velThrottleBoost = (NAV_FW_MIN_VEL_SPEED_BOOST - posControl.actualState.velXY) * NAV_FW_THROTTLE_SPEED_BOOST_GAIN * US2S(deltaMicrosPositionUpdate);
float velThrottleBoost = ((navConfig()->general.min_ground_speed * 100.0f) - posControl.actualState.velXY) * NAV_FW_THROTTLE_SPEED_BOOST_GAIN * US2S(deltaMicrosPositionUpdate);
// If we are in the deadband of 50cm/s - don't update speed boost
if (fabsf(posControl.actualState.velXY - NAV_FW_MIN_VEL_SPEED_BOOST) > 50) {
if (fabsf(posControl.actualState.velXY - (navConfig()->general.min_ground_speed * 100.0f)) > 50) {
throttleSpeedAdjustment += velThrottleBoost;
}

2
src/main/sensors/battery.c
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@ -134,7 +134,6 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance)
.failsafe_throttle = SETTING_FAILSAFE_THROTTLE_DEFAULT, // default throttle off.
.nav = {
.mc = {
.hover_throttle = SETTING_NAV_MC_HOVER_THR_DEFAULT,
},
@ -147,7 +146,6 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance)
.launch_throttle = SETTING_NAV_FW_LAUNCH_THR_DEFAULT,
.launch_idle_throttle = SETTING_NAV_FW_LAUNCH_IDLE_THR_DEFAULT, // Motor idle or MOTOR_STOP
}
},
#if defined(USE_POWER_LIMITS)