fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 11:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

perfromance model: add FW_AIRSPD_FLP_SC to reduce with flaps

Browse Source 
Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-03-27 23:29:36 +01:00
committed by Silvan Fuhrer
parent 3e3f10f5bc
commit 0ea109ff5d
10 changed files with 42 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+9 -2
View File
@@ -92,7 +92,7 @@ FwLateralLongitudinalControl::parameters_update()
_tecs.set_max_sink_rate(_param_fw_t_sink_max.get());
_tecs.set_min_sink_rate(_performance_model.getMinimumSinkRate(_air_density));
_tecs.set_equivalent_airspeed_trim(_performance_model.getCalibratedTrimAirspeed());
_tecs.set_equivalent_airspeed_min(_performance_model.getMinimumCalibratedAirspeed());
_tecs.set_equivalent_airspeed_min(_performance_model.getMinimumCalibratedAirspeed(getLoadFactor(), _flaps_setpoint));
_tecs.set_equivalent_airspeed_max(_performance_model.getMaximumCalibratedAirspeed());
_tecs.set_throttle_damp(_param_fw_t_thr_damping.get());
_tecs.set_integrator_gain_throttle(_param_fw_t_thr_integ.get());
@@ -168,6 +168,13 @@ void FwLateralLongitudinalControl::Run()
_vehicle_status_sub.update();
_control_mode_sub.update();
if (_flaps_setpoint_sub.updated()) {
normalized_unsigned_setpoint_s flaps_setpoint{};
_flaps_setpoint_sub.copy(&flaps_setpoint);
_flaps_setpoint = flaps_setpoint.normalized_setpoint;
}
update_control_state();
if (_control_mode_sub.get().flag_control_manual_enabled && _control_mode_sub.get().flag_control_altitude_enabled
@@ -622,7 +629,7 @@ float
FwLateralLongitudinalControl::adapt_airspeed_setpoint(const float control_interval, float calibrated_airspeed_setpoint,
float calibrated_min_airspeed_guidance, float wind_speed)
{
float system_min_airspeed = _performance_model.getMinimumCalibratedAirspeed(getLoadFactor());
float system_min_airspeed = _performance_model.getMinimumCalibratedAirspeed(getLoadFactor(), _flaps_setpoint);
const float system_max_airspeed = _performance_model.getMaximumCalibratedAirspeed();