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fw pos ctrl: set idle throttle in landed conditions

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also set the default idle throttle to zero as most PX4 applications use electric motors
This commit is contained in:
Thomas Stastny
2022-07-13 11:02:36 +02:00
committed by Daniel Agar
parent ceb432aacb
commit 217efcb12d
2 changed files with 11 additions and 6 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+5 -3
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@@ -1722,7 +1722,7 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
/* set the attitude and throttle commands */
// TECS has authority (though constrained) over pitch during flare, throttle is killed
// TECS has authority (though constrained) over pitch during flare, throttle is hard set to idle
_att_sp.pitch_body = get_tecs_pitch();
// flaring is just before touchdown, align the yaw as much as possible with the landing vector
@@ -1731,7 +1731,9 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
// enable direct yaw control using rudder/wheel
_att_sp.fw_control_yaw = true;
_att_sp.thrust_body[0] = 0.0f;
// idle throttle may be >0 for internal combustion engines
// normally set to zero for electric motors
_att_sp.thrust_body[0] = _param_fw_thr_idle.get();
} else {
@@ -1791,7 +1793,7 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
// enable direct yaw control using rudder/wheel
_att_sp.fw_control_yaw = false;
_att_sp.thrust_body[0] = (_landed) ? 0.0f : get_tecs_thrust();
_att_sp.thrust_body[0] = (_landed) ? _param_fw_thr_idle.get() : get_tecs_thrust();
}
_tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get()); // reset after TECS calculation