MPC: AUTO: Emergency Braking velocity setpoint fix #23757
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Claudio-Chies
commented
Oct 2, 2024
| // correction required by the altitude/vertical position controller | ||
| _constraints.speed_down = 1.2f * _param_mpc_z_v_auto_dn.get(); | ||
| _constraints.speed_up = 1.2f * _param_mpc_xy_vel_max.get(); | ||
| _constraints.speed_xy = 1.2f * _param_mpc_xy_vel_max.get();; |
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I moved this up here and removed the max, as there wasn't a possibility that the constraints to back to the normal value after emergency braking, I haven't experienced any issues stemming from this. But this way it should be more intentional.
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Commit is contained in #23678 this pr serves for documentation purposes. |
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Problem
Emergency braking was implemented to slow down the vehicle when switching from a manual flighttask into FlightTaskAuto with velocities higher than the maximum allowed velocity allowed in FlightTaskAuto.
There is currently a problem that there is a discrepancy between the velocities allowed in the PositionController and the FlightTask, meaning that the trajectory generator is able to generate trajectories which are not possible with the PositionController resulting in high errors between the velocity and velocity setpoint.
With this PR, i'm extending the vehicle constraints to also consider the xy speed, and increase this constraint while emergency braking is possible.
Solution
With the proposed Solution, the Velocity setpoint corresponds more closely with what trajectory setpoint from the
Test coverage