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WP linear climb improvements

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This commit is contained in:
breadoven 2023-11-18 20:50:04 +00:00
parent 87faeb11ee
commit f521f9895f
1 changed files with 19 additions and 16 deletions
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35
src/main/navigation/navigation.c
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@ -1694,16 +1694,13 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING); setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
// Use linear climb bewtween WPs until within 10% of total distance to current active WP // Use linear climb bewtween WPs until within 10% of total distance to current active WP
float linearClimbDistRemaining = posControl.wpDistance - 0.1f * posControl.wpInitialDistance; float climbRate = posControl.actualState.velXY * (posControl.activeWaypoint.pos.z - posControl.wpInitialAltitude) /
if (linearClimbDistRemaining > 0) { (0.9f * posControl.wpInitialDistance);
int16_t climbRate = constrainf(posControl.actualState.velXY *
(posControl.activeWaypoint.pos.z - posControl.actualState.abs.pos.z) / linearClimbDistRemaining, if (fabsf(climbRate) >= navConfig()->general.max_auto_climb_rate) {
-navConfig()->general.max_auto_climb_rate, climbRate = 0;
navConfig()->general.max_auto_climb_rate);
updateClimbRateToAltitudeController(climbRate, 0, ROC_TO_ALT_CONSTANT);
} else {
updateClimbRateToAltitudeController(0, posControl.activeWaypoint.pos.z, ROC_TO_ALT_TARGET);
} }
updateClimbRateToAltitudeController(climbRate, posControl.activeWaypoint.pos.z, ROC_TO_ALT_TARGET);
if(STATE(MULTIROTOR)) { if(STATE(MULTIROTOR)) {
switch (wpHeadingControl.mode) { switch (wpHeadingControl.mode) {
@ -3050,11 +3047,14 @@ float getDesiredClimbRate(float targetAltitude, timeDelta_t deltaMicros)
const bool emergLandingIsActive = navigationIsExecutingAnEmergencyLanding(); const bool emergLandingIsActive = navigationIsExecutingAnEmergencyLanding();
float maxClimbRate = navConfig()->general.max_auto_climb_rate; float maxClimbRate = navConfig()->general.max_auto_climb_rate;
if (emergLandingIsActive) { if (posControl.desiredState.climbRateDemand) {
maxClimbRate = ABS(posControl.desiredState.climbRateDemand);
} else if (emergLandingIsActive) {
maxClimbRate = navConfig()->general.emerg_descent_rate; maxClimbRate = navConfig()->general.emerg_descent_rate;
} else if (posControl.flags.isAdjustingAltitude) { } else if (posControl.flags.isAdjustingAltitude) {
maxClimbRate = navConfig()->general.max_manual_climb_rate; maxClimbRate = navConfig()->general.max_manual_climb_rate;
} }
const float targetAltitudeError = targetAltitude - navGetCurrentActualPositionAndVelocity()->pos.z; const float targetAltitudeError = targetAltitude - navGetCurrentActualPositionAndVelocity()->pos.z;
float targetVel = 0.0f; float targetVel = 0.0f;
@ -3076,7 +3076,7 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
{ {
/* ROC_TO_ALT_TARGET - constant climb rate until close to target altitude reducing to 0 when reached. /* ROC_TO_ALT_TARGET - constant climb rate until close to target altitude reducing to 0 when reached.
* Rate reduction starts at distance from target altitude of 5 x climb rate for Fixed wing. * Rate reduction starts at distance from target altitude of 5 x climb rate for Fixed wing.
* No climb rate required, set by target altitude direction instead. * Any non zero climb rate sets the max allowed climb rate. Default max climb rate limits are used when set to 0.
* *
* ROC_TO_ALT_RESET - similar to ROC_TO_ALT_TARGET except target altitude set to current altitude. * ROC_TO_ALT_RESET - similar to ROC_TO_ALT_TARGET except target altitude set to current altitude.
* No climb rate or altitude target required. * No climb rate or altitude target required.
@ -3087,21 +3087,24 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
posControl.desiredState.pos.z = navGetCurrentActualPositionAndVelocity()->pos.z; posControl.desiredState.pos.z = navGetCurrentActualPositionAndVelocity()->pos.z;
} else if (mode == ROC_TO_ALT_TARGET) { } else if (mode == ROC_TO_ALT_TARGET) {
posControl.desiredState.pos.z = targetAltitude; posControl.desiredState.pos.z = targetAltitude;
} else { // ROC_TO_ALT_CONSTANT
posControl.desiredState.climbRateDemand = desiredClimbRate;
} }
posControl.desiredState.climbRateDemand = desiredClimbRate;
posControl.flags.rocToAltMode = mode; posControl.flags.rocToAltMode = mode;
/* /*
* If max altitude is set and altitude limit reached reset altitude target to max altitude unless desired climb rate is -ve. * If max altitude is set limit desired altitude and impose altitude limit for constant climbs unless climb rate is -ve.
* Inhibit during RTH mode and also WP mode with altitude enforce active to avoid climbs getting stuck at max alt limit. * Inhibit during RTH mode and also WP mode with altitude enforce active to avoid climbs getting stuck at max alt limit.
*/ */
if (navConfig()->general.max_altitude && !FLIGHT_MODE(NAV_RTH_MODE) && !(FLIGHT_MODE(NAV_WP_MODE) && navConfig()->general.waypoint_enforce_altitude)) { if (navConfig()->general.max_altitude && !FLIGHT_MODE(NAV_RTH_MODE) && !(FLIGHT_MODE(NAV_WP_MODE) && navConfig()->general.waypoint_enforce_altitude)) {
posControl.desiredState.pos.z = MIN(posControl.desiredState.pos.z, navConfig()->general.max_altitude); posControl.desiredState.pos.z = MIN(posControl.desiredState.pos.z, navConfig()->general.max_altitude);
if (navGetCurrentActualPositionAndVelocity()->pos.z >= navConfig()->general.max_altitude && desiredClimbRate >= 0.0f) { if (mode == ROC_TO_ALT_TARGET || (mode == ROC_TO_ALT_CONSTANT && desiredClimbRate < 0.0f)) {
posControl.desiredState.pos.z = navConfig()->general.max_altitude; return;
}
if (navGetCurrentActualPositionAndVelocity()->pos.z > navConfig()->general.max_altitude) {
posControl.desiredState.climbRateDemand = 0;
posControl.flags.rocToAltMode = ROC_TO_ALT_TARGET; posControl.flags.rocToAltMode = ROC_TO_ALT_TARGET;
} }
} }