Make hover throttle more predictable in mc-stabilized mode #24710
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dawr68
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I added some suggestions I had and we discussed some of them in person. |
src/modules/mc_pos_control/multicopter_stabilized_mode_params.c
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The thing is, some users may still want to use HTE for Position mode, while keeping the estimate disabled for throttle curve rescaling in stabilized mode. In this PR, I tried to make it clear in the description of MPC_USE_HTE that this parameter is not used in mc-stabilized mode. |
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Did couple of flight today with throttle curve restaling to HTE. With slew rate on hover thrust estimate the thrust curve became much more predictable and the pilot was able to adopt to throttle rescaling happening in-fight without the vehicle losing altitude |
src/modules/mc_pos_control/multicopter_position_control_params.c
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src/modules/mc_pos_control/multicopter_stabilized_mode_params.c
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src/modules/mc_pos_control/multicopter_stabilized_mode_params.c
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src/modules/mc_pos_control/multicopter_stabilized_mode_params.c
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As the discussion around proposed parameters arose, it was decided to separate the solution related to jump in throttle curve scaling from changes in parameters. So now on, this PR will focus only on solving scaling issue |
Fix formating
- Slower slew rate - Move update of hover thrust estimate into main loop - Make sure dt for slew rate is correct - Apply parameter updates if hover thrust estimate not used - Parameter description in metadata files
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
MaEtUgR
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No flaws found |
The pr still adds the originally intended options but I'm following up with a pr to reduce the number of options if that's ok. No need to delay the fix for unexpected throttle scaling jumps on the main branch here. Thanks for your efforts 🙏 |
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Here's one follow up reducing configuration options: #24751 |
Current behavior
Throttle curve rescaling using the Hover Thrust Estimator (HTE) causes throttle jumps, making the throttle response unpredictable for the pilot (see #24654).
Proposed solution
A slew rate will be applied to the hover thrust used for throttle scaling. This will allow the hover throttle to gradually adjust towards the estimated value, improving predictability for the pilot.
Changes
@bresch @MaEtUgR