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Merge remote-tracking branch 'upstream/master' into obcfailsafe

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Conflicts:
	src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
This commit is contained in:
Thomas Gubler
2014-09-02 15:00:26 +02:00
parent fe0642d5e9 2780dc39ce
commit 18f0ee3f28
6 changed files with 57 additions and 26 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+11 -1
View File
@@ -578,6 +578,12 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));
param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative));
/* check if negative value for 2/3 of flare altitude is set for throttle cut */
if (_parameters.land_thrust_lim_alt_relative < 0.0f) {
_parameters.land_thrust_lim_alt_relative = 0.66f * _parameters.land_flare_alt_relative;
}
param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance));
param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt));
@@ -843,7 +849,7 @@ float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt,
* the measurement is valid
* the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt
*/
if (range_finder_use_relative_alt < 0 || !range_finder.valid || rel_alt_estimated > range_finder_use_relative_alt ) {
if (range_finder_use_relative_alt < 0 || !range_finder.valid || range_finder.distance > range_finder_use_relative_alt ) {
return rel_alt_estimated;
}
@@ -1419,6 +1425,10 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
pitch_min_rad = M_DEG_TO_RAD_F * -1.0f;
pitch_max_rad = M_DEG_TO_RAD_F * 5.0f;
}
/* No underspeed protection in landing mode */
_tecs.set_detect_underspeed_enabled(!(mode == TECS_MODE_LAND || mode == TECS_MODE_LAND_THROTTLELIM));
/* Using tecs library */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp,
_airspeed.indicated_airspeed_m_s, eas2tas,
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+9 -4
View File
@@ -379,18 +379,23 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
/**
* Landing flare altitude (relative)
* Landing flare altitude (relative to landing altitude)
*
* @unit meter
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f);
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f);
/**
* Landing throttle limit altitude (relative)
* Landing throttle limit altitude (relative landing altitude)
*
* Default of -1.0f lets the system default to applying throttle
* limiting at 2/3 of the flare altitude.
*
* @unit meter
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f);
PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f);
/**
* Landing heading hold horizontal distance