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Consider back transtition complete when MPC_XY_CRUISE is reached

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sanderux 2017-07-27 01:12:01 +02:00 committed by Sander Smeets
parent 1a0c23d8b3
commit 2e481867e5
2 changed files with 9 additions and 1 deletions
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8
src/modules/vtol_att_control/standard.cpp
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@ -75,6 +75,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
_params_handles_standard.pitch_setpoint_offset = param_find("FW_PSP_OFF");
_params_handles_standard.reverse_output = param_find("VT_B_REV_OUT");
_params_handles_standard.reverse_throttle = param_find("VT_B_REV_THR");
_params_handles_standard.mpc_xy_cruise = param_find("MPC_XY_CRUISE");
}
@ -139,6 +140,8 @@ Standard::parameters_update()
param_get(_params_handles_standard.reverse_throttle, &v);
_params_standard.reverse_throttle = math::constrain(v, 0.0f, 1.0f);
/* mpc cruise speed */
param_get(_params_handles_standard.mpc_xy_cruise, &_params_standard.mpc_xy_cruise);
}
@ -202,8 +205,11 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
// transition to MC mode if transition time has passed
// XXX: base this on XY hold velocity of MC
float vel = sqrtf(_local_pos->vx * _local_pos->vx + _local_pos->vy * _local_pos->vy);
if (hrt_elapsed_time(&_vtol_schedule.transition_start) >
(_params_standard.back_trans_dur * 1000000.0f)) {
(_params_standard.back_trans_dur * 1000000.0f) ||
vel <= _params_standard.mpc_xy_cruise) {
_vtol_schedule.flight_mode = MC_MODE;
}

2
src/modules/vtol_att_control/standard.h
View File

@ -80,6 +80,7 @@ private:
float pitch_setpoint_offset;
float reverse_output;
float reverse_throttle;
float mpc_xy_cruise;
} _params_standard;
struct {
@ -96,6 +97,7 @@ private:
param_t pitch_setpoint_offset;
param_t reverse_output;
param_t reverse_throttle;
param_t mpc_xy_cruise;
} _params_handles_standard;
enum vtol_mode {