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fw att+pos ctrl: add takeoff flaps setting

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This commit is contained in:
Thomas Stastny
2018-07-11 08:08:13 +02:00
committed by Lorenz Meier
parent 3f0a398a25
commit 0c3399433d
5 changed files with 36 additions and 5 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+13 -2
View File
@@ -106,6 +106,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.acro_max_z_rate = param_find("FW_ACRO_Z_MAX");
_parameter_handles.flaps_scale = param_find("FW_FLAPS_SCL");
_parameter_handles.flaps_takeoff_scale = param_find("FW_FLAPS_TO_SCL");
_parameter_handles.flaperon_scale = param_find("FW_FLAPERON_SCL");
_parameter_handles.rattitude_thres = param_find("FW_RATT_TH");
@@ -201,6 +202,7 @@ FixedwingAttitudeControl::parameters_update()
_parameters.acro_max_z_rate_rad = math::radians(_parameters.acro_max_z_rate_rad);
param_get(_parameter_handles.flaps_scale, &_parameters.flaps_scale);
param_get(_parameter_handles.flaps_takeoff_scale, &_parameters.flaps_takeoff_scale);
param_get(_parameter_handles.flaperon_scale, &_parameters.flaperon_scale);
param_get(_parameter_handles.rattitude_thres, &_parameters.rattitude_thres);
@@ -875,7 +877,16 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaps_scale) > 0.01f) {
flap_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaps_scale : 0.0f;
switch (_att_sp.apply_flaps) {
case 0 : flap_control = 0.0f; // no flaps
break;
case 1 : flap_control = 1.0f * _parameters.flaps_scale; // landing flaps
break;
case 2 : flap_control = 1.0f * _parameters.flaps_scale * _parameters.flaps_takeoff_scale; // take-off flaps
break;
}
}
// move the actual control value continuous with time, full flap travel in 1sec
@@ -896,7 +907,7 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaperon_scale) > 0.01f) {
flaperon_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaperon_scale : 0.0f;
flaperon_control = (_att_sp.apply_flaps == 1) ? 1.0f * _parameters.flaperon_scale : 0.0f;
}
// move the actual control value continuous with time, full flap travel in 1sec
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+2
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@@ -196,6 +196,7 @@ private:
float acro_max_z_rate_rad;
float flaps_scale; /**< Scale factor for flaps */
float flaps_takeoff_scale; /**< Scale factor for flaps on take-off */
float flaperon_scale; /**< Scale factor for flaperons */
float rattitude_thres;
@@ -264,6 +265,7 @@ private:
param_t acro_max_z_rate;
param_t flaps_scale;
param_t flaps_takeoff_scale;
param_t flaperon_scale;
param_t rattitude_thres;
src/modules/fw_att_control/fw_att_control_params.c
+14
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@@ -485,6 +485,20 @@ PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);
/**
* Flaps setting during take-off
*
* Sets a fraction of full flaps (FW_FLAPS_SCL) during take-off
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);
/**
* Scale factor for flaperons
*