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FW auto - Add parameter for flaps setting during landing

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bresch
2018-11-23 10:40:27 +01:00
committed by Lorenz Meier
parent a6684c6f9a
commit 20f870137b
3 changed files with 20 additions and 1 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+4 -1
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@@ -110,6 +110,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.flaps_scale = param_find("FW_FLAPS_SCL");
_parameter_handles.flaps_takeoff_scale = param_find("FW_FLAPS_TO_SCL");
_parameter_handles.flaps_land_scale = param_find("FW_FLAPS_LND_SCL");
_parameter_handles.flaperon_scale = param_find("FW_FLAPERON_SCL");
_parameter_handles.rattitude_thres = param_find("FW_RATT_TH");
@@ -234,6 +235,7 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.flaps_scale, &_parameters.flaps_scale);
param_get(_parameter_handles.flaps_takeoff_scale, &_parameters.flaps_takeoff_scale);
param_get(_parameter_handles.flaps_land_scale, &_parameters.flaps_land_scale);
param_get(_parameter_handles.flaperon_scale, &_parameters.flaperon_scale);
param_get(_parameter_handles.rattitude_thres, &_parameters.rattitude_thres);
@@ -929,7 +931,8 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
case vehicle_attitude_setpoint_s::FLAPS_OFF : flap_control = 0.0f; // no flaps
break;
case vehicle_attitude_setpoint_s::FLAPS_LAND : flap_control = 1.0f * _parameters.flaps_scale; // landing flaps
case vehicle_attitude_setpoint_s::FLAPS_LAND : flap_control = 1.0f * _parameters.flaps_scale *
_parameters.flaps_land_scale; // landing flaps
break;
case vehicle_attitude_setpoint_s::FLAPS_TAKEOFF : flap_control = 1.0f * _parameters.flaps_scale *