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Init tecs with transition airspeed for vtols without airspeed sensor

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This commit is contained in:
sander
2016-07-22 16:21:32 +02:00
committed by Andreas Antener
parent 415fbae31e
commit 0cf77a30b1
1 changed files with 7 additions and 1 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+7 -1
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@@ -280,6 +280,7 @@ private:
float airspeed_min;
float airspeed_trim;
float airspeed_max;
float airspeed_trans;
float pitch_limit_min;
float pitch_limit_max;
@@ -336,6 +337,7 @@ private:
param_t airspeed_min;
param_t airspeed_trim;
param_t airspeed_max;
param_t airspeed_trans;
param_t pitch_limit_min;
param_t pitch_limit_max;
@@ -615,6 +617,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
_parameter_handles.airspeed_trans = param_find("VT_ARSP_TRANS");
_parameter_handles.pitch_limit_min = param_find("FW_P_LIM_MIN");
_parameter_handles.pitch_limit_max = param_find("FW_P_LIM_MAX");
@@ -699,6 +702,7 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
param_get(_parameter_handles.airspeed_trans, &(_parameters.airspeed_trans));
param_get(_parameter_handles.pitch_limit_min, &(_parameters.pitch_limit_min));
param_get(_parameter_handles.pitch_limit_max, &(_parameters.pitch_limit_max));
@@ -2334,7 +2338,9 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
// we're in transition
if (_vehicle_status.is_vtol && _vehicle_status.in_transition_mode) {
_was_in_transition = true;
_asp_after_transition = _ctrl_state.airspeed;
// set this to transition airspeed to init tecs correctly
// some vtols fly without airspeed sensor
_asp_after_transition = _parameters.airspeed_trans;
} else if (_was_in_transition) {
// after transition we ramp up desired airspeed from the speed we had coming out of the transition