Fix max-hagl restriction to position/altitude control #23667

haumarco · 2024-09-11T08:54:18Z

Currently, when flying with only optical flow in position mode, you can easily surpass the max HAGL by continuously pushing the throttle up. The vehicle decelerates until it eventually exceeds the limit. At that point, we immediately lose optical flow measurements (when above the max height), and consequently, the HAGL max parameter is no longer set.
I modified the controller to limit the altitude to 1 meter (or 10%) below the actual max height limit. This ensures that even after approaching the limit, optical flow remains active, and the controller tries to correct the altitude.

Previously, the HAGL max also influenced the controller in altitude mode, which was undesirable when using a range sensor or barometer. To resolve this, I split the HAGL max field of the local position message into hagl_max_z (for vertical control) and hagl_max_xy (for horizontal position control).

When flying at max_hgt_xy, the platform descends if the terrain elevation decreases, in order to maintain a valid local position estimate. Additionally, when flying near the hagl_max_xy limit, I adjust the maximum horizontal velocity to reduce the risk of losing optical flow due to rapid elevation changes.

To avoid adding new subscribers, the hagl_max controller setting is still handled in the estimator.
In the FlightTaskManAcc, I now set the max_dist_to_ground of the FlightTaskManAlt because it depends on whether ManAcc is running. Since ManAlt cannot directly check if ManAcc is running (as it's a cascaded controller), this adjustment was necessary in order to keep it simple.

Please also give some feedback if this behavior fits what a typical user would expect.

src/drivers/ins/vectornav/VectorNav.cpp

src/modules/ekf2/EKF/ekf_helper.cpp

src/modules/mavlink/mavlink_receiver.cpp

src/modules/navigator/mission_block.cpp

src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp

bresch

Overall good, just a couple of comments

src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp

src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp

src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp

github-actions · 2024-11-18T09:50:56Z

🔎 FLASH Analysis

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Updated: 2025-01-10T13:24:22

haumarco requested review from dagar and bresch September 11, 2024 08:54

haumarco force-pushed the max_hagl_control branch from c8c6203 to 567daf5 Compare September 11, 2024 08:55

bresch requested changes Sep 11, 2024

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haumarco marked this pull request as draft September 11, 2024 13:49

haumarco marked this pull request as ready for review September 17, 2024 07:43

haumarco requested a review from bresch October 1, 2024 13:48

sfuhrer requested a review from MaEtUgR October 29, 2024 15:01

bresch requested changes Nov 14, 2024

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haumarco force-pushed the max_hagl_control branch from f0d0072 to 5347c12 Compare November 18, 2024 09:35

haumarco added 4 commits January 10, 2025 14:18

fix max-hagl restriction to position/altitude control

337f3d9

max hagl vel restriction in ManAcc position mode

0ef84e5

use interpolate func, change naming

9beca26

simplyfied vertical vel limitation

09da49e

haumarco force-pushed the max_hagl_control branch from 5347c12 to 09da49e Compare January 10, 2025 13:18

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Fix max-hagl restriction to position/altitude control #23667

Fix max-hagl restriction to position/altitude control #23667

haumarco commented Sep 11, 2024 •

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github-actions bot commented Nov 18, 2024 •

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Fix max-hagl restriction to position/altitude control #23667

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Fix max-hagl restriction to position/altitude control #23667

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haumarco commented Sep 11, 2024 •

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