PX4-Autopilot
PX4-Autopilot copied to clipboard
PX4
Remove `MPC_USE_HTE` and always use hover thrust for altitude control
Solved Problem
When we discussed https://github.com/PX4/PX4-Autopilot/pull/24710 in the dev call and agreed once again we need to reduce the configuration space, I realized I would never change this parameter to 0 or advise someone to do so. It was introduced beginning 2020 to experimentally introduce the hover thrust estimator but was soon after enabled by default and I have not seen anyone turn it off.
References: Hover thrust estimator introduction: https://github.com/PX4/PX4-Autopilot/pull/13981 Addition of the parameter (and many improvements): https://github.com/PX4/PX4-Autopilot/pull/14182 Enabling use of the estimate the default: https://github.com/PX4/PX4-Autopilot/pull/14419
Solution
Note the separate mc_hover_thrust_estimator module can still be not run but I have not seen a case where the hover thrust estimate is not useful for altitude control hence I don't expect anyone to have the parameter disabled or planning on not running the module.
Please review the cases where the hover thrust is not available or gets invalid. My intention is to keep on using the last valid estimate like for the stick rescaling in Stabilized mode. This is in my eyes better than jumping back to the hover thrust parameter. I left the safety logic to make landing detection checks more strict with invalid hover thrust.
Changelog Entry
Remove `MPC_USE_HTE` and always use hover thrust for altitude control
Test coverage
I have not tested this pr. But can do so if we decide to go forward with it.
🔎 FLASH Analysis
px4_fmu-v5x [Total VM Diff: -56 byte (-0 %)]
FILE SIZE VM SIZE
-------------- --------------
+0.1% +16 +0.1% +16 .ramfunc
+2.0% +12 +2.0% +12 ../../src/lib/parameters/parameters.cpp
+0.6% +4 +0.6% +4 [section .ramfunc]
+0.0% +74 [ = ] 0 .debug_abbrev
+11% +56 [ = ] 0 ../../src/lib/version/version.c
+0.6% +18 [ = ] 0 ../../src/modules/land_detector/MulticopterLandDetector.cpp
-0.0% -8 [ = ] 0 .debug_aranges
-5.0% -8 [ = ] 0 ../../src/lib/version/version.c
+0.0% +36 [ = ] 0 .debug_frame
-0.0% -1.25Ki [ = ] 0 .debug_info
-0.0% -8 [ = ] 0 ../../src/drivers/batt_smbus/batt_smbus.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/cdcacm_autostart/cdcacm_autostart.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/dshot/DShot.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/heater/heater.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/lights/rgbled/rgbled.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/lights/rgbled_is31fl3195/rgbled_is31fl3195.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/lights/rgbled_lp5562/rgbled_lp5562.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/osd/msp_osd/msp_osd.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina226/ina226.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina226/ina226_main.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina228/ina228.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina228/ina228_main.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina238/ina238.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina238/ina238_main.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/pwm_out/PWMOut.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/px4io/px4io.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/rc/crsf_rc/CrsfRc.cpp
-100.0% -1.10Ki [ = ] 0 [172 Others]
+0.0% +88 [ = ] 0 .debug_line
+0.3% +66 [ = ] 0 ../../src/lib/parameters/parameters.cpp
-1.3% -25 [ = ] 0 ../../src/lib/version/version.c
+2.4% +135 [ = ] 0 ../../src/modules/land_detector/MulticopterLandDetector.cpp
-0.3% -92 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
+0.4% +4 [ = ] 0 task/task_cancelpt.c
-0.0% -92 [ = ] 0 .debug_loc
-0.0% -15 [ = ] 0 ../../src/drivers/uavcan/uavcan_main.cpp
+0.0% +28 [ = ] 0 ../../src/drivers/uavcan/uavcan_servers.cpp
-0.2% -52 [ = ] 0 ../../src/lib/parameters/parameters.cpp
-0.0% -16 [ = ] 0 ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
+4.0% +282 [ = ] 0 ../../src/modules/land_detector/MulticopterLandDetector.cpp
-0.5% -266 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
-0.1% -16 [ = ] 0 ../../src/modules/navigator/navigator_main.cpp
+0.0% +9 [ = ] 0 ../../src/modules/simulation/simulator_sih/sih.cpp
-0.0% -26 [ = ] 0 [section .debug_loc]
-0.0% -20 [ = ] 0 src/modules/ekf2/modules__ekf2_unity.cpp
+0.0% +31 [ = ] 0 .debug_ranges
+0.4% +56 [ = ] 0 ../../src/lib/parameters/parameters.cpp
-2.6% -8 [ = ] 0 ../../src/lib/version/version.c
+8.8% +112 [ = ] 0 ../../src/modules/land_detector/MulticopterLandDetector.cpp
-0.9% -128 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
-1.5% -1 [ = ] 0 task/task_cancelpt.c
-0.0% -1019 [ = ] 0 .debug_str
-0.0% -12 [ = ] 0 ../../src/drivers/batt_smbus/batt_smbus.cpp
-3.7% -75 [ = ] 0 ../../src/modules/land_detector/MulticopterLandDetector.cpp
-0.1% -14 [ = ] 0 ../../src/modules/mc_att_control/mc_att_control_main.cpp
-3.0% -918 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
-0.9% -2 [ = ] 0 .shstrtab
-0.0% -86 [ = ] 0 .strtab
-8.1% -32 [ = ] 0 ../../src/lib/version/version.c
-2.8% -86 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
+0.1% +32 [ = ] 0 [section .strtab]
-0.0% -32 [ = ] 0 .symtab
-5.4% -48 [ = ] 0 ../../src/lib/version/version.c
+0.3% +16 [ = ] 0 ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
-1.3% -32 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
+0.1% +32 [ = ] 0 [section .symtab]
+0.1% +56 [ = ] 0 [Unmapped]
-0.0% -72 -0.0% -72 .text
+0.3% +64 +0.3% +64 ../../src/lib/parameters/parameters.cpp
+2.2% +48 +2.2% +48 ../../src/modules/land_detector/MulticopterLandDetector.cpp
-0.0% -40 -0.0% -40 [section .text]
-0.0% -56 -0.0% -56 ROMFS/nsh_romfsimg.c
-0.7% -88 -0.7% -88 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
-0.0% -2.24Ki -0.0% -56 TOTAL
px4_fmu-v6x [Total VM Diff: -136 byte (-0.01 %)]
FILE SIZE VM SIZE
-------------- --------------
+0.0% +74 [ = ] 0 .debug_abbrev
+11% +56 [ = ] 0 ../../src/lib/version/version.c
+0.6% +18 [ = ] 0 ../../src/modules/land_detector/MulticopterLandDetector.cpp
-0.0% -8 [ = ] 0 .debug_aranges
-5.0% -8 [ = ] 0 ../../src/lib/version/version.c
+0.0% +24 [ = ] 0 .debug_frame
-0.0% -1.16Ki [ = ] 0 .debug_info
-0.0% -8 [ = ] 0 ../../src/drivers/cdcacm_autostart/cdcacm_autostart.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/dshot/DShot.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/heater/heater.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/lights/rgbled/rgbled.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/lights/rgbled_is31fl3195/rgbled_is31fl3195.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/lights/rgbled_lp5562/rgbled_lp5562.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/osd/msp_osd/msp_osd.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina226/ina226.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina226/ina226_main.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina228/ina228.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina228/ina228_main.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina238/ina238.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/ina238/ina238_main.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/pwm_out/PWMOut.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/px4io/px4io.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/rc_input/RCInput.cpp
-0.0% -8 [ = ] 0 ../../src/drivers/uavcan/actuators/esc.cpp
-100.0% -1.01Ki [ = ] 0 [161 Others]
+0.0% +20 [ = ] 0 .debug_line
-1.3% -25 [ = ] 0 ../../src/lib/version/version.c
+0.0% +1 [ = ] 0 ../../src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+2.4% +135 [ = ] 0 ../../src/modules/land_detector/MulticopterLandDetector.cpp
-0.3% -92 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
+0.1% +1 [ = ] 0 task/task_cancelpt.c
+0.0% +335 [ = ] 0 .debug_loc
+0.0% +3 [ = ] 0 ../../src/drivers/uavcan/uavcan_servers.cpp
-0.0% -1 [ = ] 0 ../../src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp
+0.6% +180 [ = ] 0 ../../src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+4.0% +282 [ = ] 0 ../../src/modules/land_detector/MulticopterLandDetector.cpp
-0.5% -266 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
-0.0% -2 [ = ] 0 ../../src/modules/sensors/sensors.cpp
+0.1% +29 [ = ] 0 ../../src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+0.1% +75 [ = ] 0 ../../src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+0.0% +2 [ = ] 0 [section .debug_loc]
+0.0% +33 [ = ] 0 src/modules/ekf2/modules__ekf2_unity.cpp
-0.0% -24 [ = ] 0 .debug_ranges
-2.6% -8 [ = ] 0 ../../src/lib/version/version.c
+8.8% +112 [ = ] 0 ../../src/modules/land_detector/MulticopterLandDetector.cpp
-0.9% -128 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
-0.0% -1019 [ = ] 0 .debug_str
-0.0% -12 [ = ] 0 ../../src/drivers/cdcacm_autostart/cdcacm_autostart.cpp
-3.7% -75 [ = ] 0 ../../src/modules/land_detector/MulticopterLandDetector.cpp
-0.1% -14 [ = ] 0 ../../src/modules/mc_att_control/mc_att_control_main.cpp
-3.0% -918 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
-0.9% -2 [ = ] 0 .shstrtab
-0.0% -86 [ = ] 0 .strtab
-8.1% -32 [ = ] 0 ../../src/lib/version/version.c
-2.8% -86 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
+0.0% +32 [ = ] 0 [section .strtab]
-0.0% -32 [ = ] 0 .symtab
-7.0% -64 [ = ] 0 ../../src/lib/version/version.c
+0.3% +16 [ = ] 0 ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
-1.3% -32 [ = ] 0 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
+0.1% +48 [ = ] 0 [section .symtab]
+0.2% +136 [ = ] 0 [Unmapped]
-0.0% -136 -0.0% -136 .text
+2.2% +48 +2.2% +48 ../../src/modules/land_detector/MulticopterLandDetector.cpp
+0.2% +3 +0.2% +3 ../../src/systemcmds/ver/ver.cpp
-0.0% -8 -0.0% -8 ../../src/lib/parameters/parameters.cpp
-0.0% -13 -0.0% -13 [section .text]
-0.0% -78 -0.0% -78 ROMFS/nsh_romfsimg.c
-0.7% -88 -0.7% -88 ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
-0.0% -1.86Ki -0.0% -136 TOTAL
Updated: 2025-04-22T17:08:31
![github-actions[bot] avatar](https://avatars.githubusercontent.com/in/15368?v=4 "Published by a pub.dev verified publisher"){kind=small}
This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:
https://discuss.px4.io/t/px4-sync-q-a-april-23-2025/45198/3
I flight tested this yesterday and all seemed well. https://review.px4.io/plot_app?log=ddbf2f12-14a9-4400-815c-2520cd347313
@dakejahl Thanks for testing! I had a quick glance and it looks good from my perspective with this pull request in mind: