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fw att+pos ctrl: add takeoff flaps setting

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This commit is contained in:
Thomas Stastny
2018-07-06 11:14:32 +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_pos_control_l1/FixedwingPositionControl.cpp
+6 -2
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@@ -704,7 +704,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
bool setpoint = true;
_att_sp.fw_control_yaw = false; // by default we don't want yaw to be contoller directly with rudder
_att_sp.apply_flaps = false; // by default we don't use flaps
_att_sp.apply_flaps = 0; // by default we don't use flaps
calculate_gndspeed_undershoot(curr_pos, ground_speed, pos_sp_prev, pos_sp_curr);
@@ -1137,6 +1137,10 @@ FixedwingPositionControl::control_takeoff(const Vector2f &curr_pos, const Vector
prev_wp(1) = (float)pos_sp_curr.lon;
}
// apply flaps for takeoff according to the corresponding scale factor set
// via FW_FLAPS_TO_SCL
_att_sp.apply_flaps = 2;
// continuously reset launch detection and runway takeoff until armed
if (!_control_mode.flag_armed) {
_launchDetector.reset();
@@ -1305,7 +1309,7 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
// apply full flaps for landings. this flag will also trigger the use of flaperons
// if they have been enabled using the corresponding parameter
_att_sp.apply_flaps = true;
_att_sp.apply_flaps = 1;
// save time at which we started landing and reset abort_landing
if (_time_started_landing == 0) {