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ask for climbout mode when doin takeoff help

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tumbili
2015-06-16 11:05:44 +02:00
parent f57086cb99
commit 1ebea1e759
1 changed files with 10 additions and 6 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+10 -6
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@@ -395,7 +395,7 @@ private:
/** /**
* Do takeoff help when in altitude controlled modes * Do takeoff help when in altitude controlled modes
*/ */
void do_takeoff_help(); bool do_takeoff_help();
/** /**
* Update desired altitude base on user pitch stick input * Update desired altitude base on user pitch stick input
@@ -987,16 +987,20 @@ bool FixedwingPositionControl::update_desired_altitude(float dt)
return climbout_mode; return climbout_mode;
} }
void FixedwingPositionControl::do_takeoff_help() bool FixedwingPositionControl::do_takeoff_help()
{ {
const hrt_abstime delta_takeoff = 10000000; const hrt_abstime delta_takeoff = 10000000;
const float throttle_threshold = 0.3f; const float throttle_threshold = 0.1f;
const float delta_alt_takeoff = 30.0f; const float delta_alt_takeoff = 50.0f;
float climbout = false;
/* demand 30 m above ground if user switched into this mode during takeoff */ /* demand 30 m above ground if user switched into this mode during takeoff */
if (hrt_elapsed_time(&_time_went_in_air) < delta_takeoff && _manual.z > throttle_threshold && _global_pos.alt <= _ground_alt + delta_alt_takeoff) { if (hrt_elapsed_time(&_time_went_in_air) < delta_takeoff && _manual.z > throttle_threshold && _global_pos.alt <= _ground_alt + delta_alt_takeoff) {
_hold_alt = _ground_alt + delta_alt_takeoff; _hold_alt = _ground_alt + delta_alt_takeoff;
climbout = true;
} }
return climbout;
} }
bool bool
@@ -1416,7 +1420,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
bool climbout_requested = update_desired_altitude(dt); bool climbout_requested = update_desired_altitude(dt);
/* if we assume that user is taking off then help by demanding altitude setpoint well above ground*/ /* if we assume that user is taking off then help by demanding altitude setpoint well above ground*/
do_takeoff_help(); climbout_requested |= do_takeoff_help();
/* throttle limiting */ /* throttle limiting */
throttle_max = _parameters.throttle_max; throttle_max = _parameters.throttle_max;
@@ -1509,7 +1513,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
bool climbout_requested = update_desired_altitude(dt); bool climbout_requested = update_desired_altitude(dt);
/* if we assume that user is taking off then help by demanding altitude setpoint well above ground*/ /* if we assume that user is taking off then help by demanding altitude setpoint well above ground*/
do_takeoff_help(); climbout_requested |= do_takeoff_help();
/* throttle limiting */ /* throttle limiting */
throttle_max = _parameters.throttle_max; throttle_max = _parameters.throttle_max;