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fixed-wing landing: convert flare time pitch and throttle constraint ramps to sqrt function to make more aggressive

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This commit is contained in:
Thomas Stastny
2022-11-22 13:46:25 -05:00
committed by Daniel Agar
parent f23328d14f
commit 1de1416773
1 changed files with 10 additions and 7 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+10 -7
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@@ -1777,17 +1777,20 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
/* longitudinal guidance */
const float height_rate_setpoint = flare_ramp_interpolator * (-_param_fw_lnd_fl_sink.get()) +
(1.0f - flare_ramp_interpolator) * _flare_states.initial_height_rate_setpoint;
const float flare_ramp_interpolator_sqrt = sqrtf(flare_ramp_interpolator);
const float pitch_min_rad = flare_ramp_interpolator * radians(_param_fw_lnd_fl_pmin.get()) +
(1.0f - flare_ramp_interpolator) * radians(_param_fw_p_lim_min.get());
const float pitch_max_rad = flare_ramp_interpolator * radians(_param_fw_lnd_fl_pmax.get()) +
(1.0f - flare_ramp_interpolator) * radians(_param_fw_p_lim_max.get());
const float height_rate_setpoint = flare_ramp_interpolator_sqrt * (-_param_fw_lnd_fl_sink.get()) +
(1.0f - flare_ramp_interpolator_sqrt) * _flare_states.initial_height_rate_setpoint;
const float pitch_min_rad = flare_ramp_interpolator_sqrt * radians(_param_fw_lnd_fl_pmin.get()) +
(1.0f - flare_ramp_interpolator_sqrt) * radians(_param_fw_p_lim_min.get());
const float pitch_max_rad = flare_ramp_interpolator_sqrt * radians(_param_fw_lnd_fl_pmax.get()) +
(1.0f - flare_ramp_interpolator_sqrt) * radians(_param_fw_p_lim_max.get());
// idle throttle may be >0 for internal combustion engines
// normally set to zero for electric motors
const float throttle_max = flare_ramp_interpolator * _param_fw_thr_idle.get() + (1.0f - flare_ramp_interpolator) *
const float throttle_max = flare_ramp_interpolator_sqrt * _param_fw_thr_idle.get() +
(1.0f - flare_ramp_interpolator_sqrt) *
_param_fw_thr_max.get();
tecs_update_pitch_throttle(control_interval,