多旋翼的加加速度限制型轨迹
The Jerk-limited trajectory type provides smooth motion in autonomous flight e.g. for filming, mapping, cargo. 它能产生对称的平滑 S-曲线使加加速度和加速度的极限始终得到保证。
This trajectory type is always enabled in autonomous modes like Mission mode.
轨迹生成器
下图显示了具有如下约束的典型加加速度限制剖面：
jMax: maximum jerka0: initial accelerationaMax: maximum accelerationa3: final acceleration (always 0)v0: initial velocityvRef: desired velocity
The constraints jMax, aMax are configurable by the user via parameters and can be different in manual position control and auto mode.
所得的速度剖面通常称为“S-曲线”。
手动模式
In manual position and altitude mode, jerk limiting is applied only to the vertical axis. Full throttle stick deflection commands the maximum vertical velocity which is MPC_Z_VEL_MAX_UP upwards and MPC_Z_VEL_MAX_DN downwards.
约束
Z-axis
jMax: MPC_JERK_MAXaMax(upward motion): MPC_ACC_UP_MAXaMax(downward motion): MPC_ACC_DOWN_MAX
自动模式
In auto mode, the desired velocity is MPC_XY_CRUISE but this value is automatically adjusted depending on the distance to the next waypoint, the maximum possible velocity in the waypoint and the maximum desired acceleration and jerk. The vertical speed is defined by MPC_Z_V_AUTO_UP (upward motion) and MPC_Z_V_AUTO_DN (downward motion).
约束
XY平面：
jMax: MPC_JERK_AUTOaMax: MPC_ACC_HOR
Z轴：
jMax: MPC_JERK_AUTOaMax(upward motion): MPC_ACC_UP_MAXaMax(downward motion): MPC_ACC_DOWN_MAX
渐进某个航点时的距离-速度增益：