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rover position control: fix stuttering (speed fluctuation) motion patern #517

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rover position control: fix stuttering (speed fluctuation) motion patern #517

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13 changes: 9 additions & 4 deletions src/modules/rover_pos_control/RoverPositionControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,7 @@ void RoverPositionControl::parameters_update(bool force)
_gnd_control.set_l1_period(_param_l1_period.get());
_gnd_control.set_l1_roll_limit(math::radians(0.0f));

pid_init(&_speed_ctrl, PID_MODE_DERIVATIV_CALC, 0.01f);
pid_init(&_speed_ctrl, PID_MODE_DERIVATIV_NONE, 0.01f);
pid_set_parameters(&_speed_ctrl,
_param_speed_p.get(),
_param_speed_i.get(),
Expand Down Expand Up @@ -337,7 +337,7 @@ RoverPositionControl::control_velocity(const matrix::Vector3f &current_velocity)
float dt = 0.01; // Using non zero value to a avoid division by zero

const float mission_throttle = _param_throttle_cruise.get();
const float desired_speed = desired_velocity.norm();
const float desired_speed = desired_velocity.norm() * _param_gndspeed_max.get();

if (desired_speed > 0.01f) {
const Dcmf R_to_body(Quatf(_vehicle_att.q).inversed());
Expand All @@ -346,10 +346,15 @@ RoverPositionControl::control_velocity(const matrix::Vector3f &current_velocity)
const float x_vel = vel(0);
const float x_acc = _vehicle_acceleration_sub.get().xyz[0];

const float control_throttle = pid_calculate(&_speed_ctrl, desired_speed, x_vel, x_acc, dt);
float control_throttle = pid_calculate(&_speed_ctrl, desired_speed, x_vel, x_acc, dt);

//Constrain maximum throttle to mission throttle
_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = math::constrain(control_throttle, 0.0f, mission_throttle);
control_throttle = math::constrain(control_throttle, -mission_throttle, mission_throttle);

// Calculate the output linear speed
float output_speed = math::constrain(desired_speed - control_throttle, 0.0f, _param_gndspeed_max.get());

_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = output_speed;

Vector3f desired_body_velocity;

Expand Down