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added parameter for maximum allowed standard vtol down pitch

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tumbili
2016-04-11 14:56:49 +02:00
committed by tumbili
parent cf309bfc3f
commit 34fe340864
3 changed files with 18 additions and 5 deletions
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src/modules/vtol_att_control/standard.cpp
+5 -5
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@@ -66,6 +66,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
_params_handles_standard.airspeed_trans = param_find("VT_ARSP_TRANS");
_params_handles_standard.front_trans_timeout = param_find("VT_TRANS_TIMEOUT");
_params_handles_standard.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
_params_handles_standard.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
}
Standard::~Standard()
@@ -105,6 +106,9 @@ Standard::parameters_update()
/* minimum time for transition to fw mode */
param_get(_params_handles_standard.front_trans_time_min, &_params_standard.front_trans_time_min);
/* maximum down pitch allowed */
param_get(_params_handles_standard.down_pitch_max, &v);
_params_standard.down_pitch_max = math::radians(v);
return OK;
}
@@ -296,11 +300,7 @@ void Standard::update_mc_state()
_pusher_throttle = body_x_zero_tilt * thrust_sp_axis * _v_att_sp->thrust;
_pusher_throttle = _pusher_throttle < 0.0f ? 0.0f : _pusher_throttle;
_pusher_throttle = body_x_zero_tilt * body_z_sp * _v_att_sp->thrust; // XXX check if sign is correct
_pusher_throttle = _pusher_throttle < 0.0f ? 0.0f : _pusher_throttle;
float pitch_sp_corrected = _v_att_sp->pitch_body < -0.1f ? -0.1f : _v_att_sp->pitch_body;
float pitch_sp_corrected = _v_att_sp->pitch_body < -_params_standard.down_pitch_max ? -_params_standard.down_pitch_max : _v_att_sp->pitch_body;
// compute new desired rotation matrix with corrected pitch angle
// and copy data to attitude setpoint topic