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consitent parameter naming for runway takeoff, added parameters for important values

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This commit is contained in:
Andreas Antener
2015-11-17 22:28:08 +01:00
committed by Roman
parent ea884b34f0
commit 24179a0d93
2 changed files with 61 additions and 9 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+22 -7
View File
@@ -283,6 +283,9 @@ private:
int do_runway_takeoff;
int runway_takeoff_heading;
float runway_takeoff_nav_alt;
float runway_takeoff_throttle;
float runway_takeoff_pitch_sp;
} _parameters; /**< local copies of interesting parameters */
@@ -334,6 +337,9 @@ private:
param_t do_runway_takeoff;
param_t runway_takeoff_heading;
param_t runway_takeoff_nav_alt;
param_t runway_takeoff_throttle;
param_t runway_takeoff_pitch_sp;
} _parameter_handles; /**< handles for interesting parameters */
@@ -580,8 +586,11 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.land_flare_pitch_max_deg = param_find("FW_FLARE_PMAX");
_parameter_handles.land_use_terrain_estimate= param_find("FW_LND_USETER");
_parameter_handles.do_runway_takeoff = param_find("FW_RUNWAY_TKOFF");
_parameter_handles.runway_takeoff_heading = param_find("FW_TKOFF_HDG");
_parameter_handles.do_runway_takeoff = param_find("FW_RNW_TKOFF");
_parameter_handles.runway_takeoff_heading = param_find("FW_RNW_HDG");
_parameter_handles.runway_takeoff_nav_alt = param_find("FW_RNW_NAV_ALT");
_parameter_handles.runway_takeoff_throttle = param_find("FW_RNW_MAX_THR");
_parameter_handles.runway_takeoff_pitch_sp = param_find("FW_RNW_PSP");
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
_parameter_handles.time_const_throt = param_find("FW_T_THRO_CONST");
@@ -688,6 +697,9 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.do_runway_takeoff, &(_parameters.do_runway_takeoff));
param_get(_parameter_handles.runway_takeoff_heading, &(_parameters.runway_takeoff_heading));
param_get(_parameter_handles.runway_takeoff_nav_alt, &(_parameters.runway_takeoff_nav_alt));
param_get(_parameter_handles.runway_takeoff_throttle, &(_parameters.runway_takeoff_throttle));
param_get(_parameter_handles.runway_takeoff_pitch_sp, &(_parameters.runway_takeoff_pitch_sp));
_l1_control.set_l1_damping(_parameters.l1_damping);
_l1_control.set_l1_period(_parameters.l1_period);
@@ -1385,7 +1397,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (_airspeed.true_airspeed_m_s < _parameters.airspeed_min * 1.2f) { // XXX takeoff: magic value
_takeoff_on_runway = true;
_att_sp.pitch_body = math::radians(10.0f); // XXX takeoff: magic value
_att_sp.pitch_body = math::radians(_parameters.runway_takeoff_pitch_sp);
} else {
// min airspeed reached, let tecs control it
_takeoff_on_runway = false;
@@ -1397,11 +1409,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
eas2tas,
math::radians(_parameters.pitch_limit_min),
takeoff_pitch_max_rad,
_parameters.throttle_min, _parameters.throttle_max,
_parameters.throttle_min,
_parameters.throttle_max, // XXX should we also set runway_takeoff_throttle here?
_parameters.throttle_cruise,
true,
math::max(math::radians(_pos_sp_triplet.current.pitch_min),
math::radians(10.0f)),
math::radians(10.0f)),
_global_pos.alt,
ground_speed,
tecs_status_s::TECS_MODE_TAKEOFF,
@@ -1415,7 +1428,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float terrain_alt = get_terrain_altitude_takeoff(_takeoff_ground_alt, _global_pos);
//PX4_WARN("talt: %f", (double)terrain_alt);
if (_global_pos.alt - terrain_alt > 4.0f) { // XXX takeoff: magic value
if (_global_pos.alt - terrain_alt > _parameters.runway_takeoff_nav_alt) {
// XXX once in here we should maybe not fall out again (although it shouldn't matter when we're climbing)
// start to navigate to takeoff waypoint as soon as we are high enough in the air
_att_sp.roll_body = _l1_control.nav_roll();
@@ -1750,7 +1763,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
_parameters.do_runway_takeoff && _takeoff_on_runway == true) {
/* Ramp-up thrust and stay at max */
_att_sp.thrust = _att_sp.thrust < _parameters.throttle_max ? hrt_elapsed_time(&_takeoff_runway_start) / (float)2000000 : _parameters.throttle_max;
_att_sp.thrust = _att_sp.thrust < _parameters.runway_takeoff_throttle ?
hrt_elapsed_time(&_takeoff_runway_start) / (float)2000000 :
_parameters.runway_takeoff_throttle;
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO &&
pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_att_sp.thrust = 0.0f;
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+39 -2
View File
@@ -431,18 +431,55 @@ PARAM_DEFINE_INT32(FW_LND_USETER, 0);
*
* 0: disabled, 1: enabled
*
* @min 0
* @max 1
* @group L1 Control
*/
PARAM_DEFINE_INT32(FW_RUNWAY_TKOFF, 0);
PARAM_DEFINE_INT32(FW_RNW_TKOFF, 0);
/**
* Specifies which heading should be held during runnway takeoff.
*
* 0: airframe heading, 1: heading towards takeoff waypoint
*
* @min 0
* @max 1
* @group L1 Control
*/
PARAM_DEFINE_INT32(FW_TKOFF_HDG, 0);
PARAM_DEFINE_INT32(FW_RNW_HDG, 0);
/**
* Altitude AGL at which navigation towards takeoff waypoint starts.
* Until FW_RNW_NAV_ALT is reached the plane is held level and only
* rudder is used to keep the heading (see FW_RNW_HDG).
*
* @min 0.0
* @max 100.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_RNW_NAV_ALT, 5.0);
/**
* Max throttle during runway takeoff.
* (Can be limited to test taxi on runway)
*
* @min 0.0
* @max 1.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_RNW_MAX_THR, 1.0);
/**
* Pitch setpoint during runway takeoff.
* A taildragger with stearable wheel might need to pitch up
* a little to keep it's wheel on the ground before airspeed
* to takeoff is reached.
*
* @min 0.0
* @max 20.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_RNW_PSP, 0.0);
/**
* Flare, minimum pitch