multicopter hover thrust estimator use vehicle_thrust_setpoint (work in stabilized/manual mode) #19633

dagar · 2022-05-11T00:28:16Z

Update the hover thrust estimator to use vehicle_thrust_setpoint (body frame) rather than vehicle_local_position_setpoint thrust (NED). This allows it to work in stabilized mode.

https://logs.px4.io/plot_app?log=6df3713e-f511-4e2e-854d-8fc7ab98ec65

TODO:

review usability and safety in stabilized mode
battery scaling?

src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp

dagar · 2022-05-11T01:02:18Z

Should we go even lower level and use the allocated_thrust from control_allocator_status?

bresch · 2022-05-12T05:19:05Z

Should we go even lower level and use the allocated_thrust from control_allocator_status?

Il would improve the estimate on setups that are often saturating, yes. For the other ones, it shouldn't change anything.
Should we maybe change to that once we switch to the new control allocation system completely?

bresch · 2022-05-12T05:19:05Z

Should we go even lower level and use the allocated_thrust from control_allocator_status?

Il would improve the estimate on setups that are often saturating, yes. For the other ones, it shouldn't change anything.
Should we maybe change to that once we switch to the new control allocation system completely?

MaEtUgR · 2024-09-18T16:45:58Z

Let's pick this up again. I've not seen the hover thrust estimator fail 👀

once we switch to the new control allocation system completely?

That's done 😃

github-actions · 2024-12-16T14:31:40Z

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Updated: 2025-01-13T09:44:28

src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp

Tools/simulation/gz

mahimayoga · 2025-01-03T15:35:59Z

Tests in SITL:

Switch from position mode to stabilized while hovering.
For a heavier vehicle, check if thrust setpoint tracks allocated thrust (stabilized mode).

src/modules/mc_att_control/mc_att_control.hpp

bresch

Looks good, just some nitpicks.

src/modules/mc_att_control/mc_att_control.hpp

src/modules/mc_att_control/mc_att_control_main.cpp

mahimayoga · 2025-01-13T09:16:06Z

Flight tested today. Thrust setpoint successfully set to hover thrust estimate after switching to stabilized mode without giving any stick input:

Use hover thrust estimate in stabilized mode to rescale stick inputs. Prevents vehicle from losing/gaining altitude when switching from position to stabilized mode.

Improves estimates on vehicles where thrust is often saturating.

dagar added Admin: Enhancement (improvement) 💡 Multirotor 🛸 labels May 11, 2022

dagar changed the title ~~multicopter hover thrust estimator use vehicle_thrust_setpoint (work in stabilized mode)~~ multicopter hover thrust estimator use vehicle_thrust_setpoint (work in stabilized/manual mode) May 11, 2022

dagar commented May 11, 2022

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mahimayoga force-pushed the pr-mc_hover_thrust_stabilized branch from 0a90621 to 4d00981 Compare December 13, 2024 10:45

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mahimayoga force-pushed the pr-mc_hover_thrust_stabilized branch 2 times, most recently from 94dd880 to e21605a Compare January 8, 2025 12:42

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mahimayoga added 2 commits January 13, 2025 10:30

MC-stabilized: rescale thrust input to hover thrust at zero stick input

b30f8b7

Use hover thrust estimate in stabilized mode to rescale stick inputs. Prevents vehicle from losing/gaining altitude when switching from position to stabilized mode.

MC-hte: use allocated thrust as input for hover thrust estimator.

d3c5f45

Improves estimates on vehicles where thrust is often saturating.

mahimayoga force-pushed the pr-mc_hover_thrust_stabilized branch from 1b317a8 to d3c5f45 Compare January 13, 2025 09:39

mahimayoga requested a review from bresch January 13, 2025 09:41

bresch approved these changes Jan 13, 2025

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mahimayoga merged commit 879e0ea into main Jan 13, 2025
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mahimayoga deleted the pr-mc_hover_thrust_stabilized branch January 13, 2025 10:56

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multicopter hover thrust estimator use vehicle_thrust_setpoint (work in stabilized/manual mode) #19633

multicopter hover thrust estimator use vehicle_thrust_setpoint (work in stabilized/manual mode) #19633

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multicopter hover thrust estimator use vehicle_thrust_setpoint (work in stabilized/manual mode) #19633

multicopter hover thrust estimator use vehicle_thrust_setpoint (work in stabilized/manual mode) #19633

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