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mtecs: first rough version of takeoff mode

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This commit is contained in:
Thomas Gubler
2014-03-27 22:57:29 +01:00
parent d3ca12f136
commit 3e9dfcb6f7
5 changed files with 113 additions and 29 deletions
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src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+18 -7
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@@ -58,6 +58,8 @@ mTecs::mTecs() :
_airspeedDerivative(this, "AD"),
_throttleSp(0.0f),
_pitchSp(0.0f),
BlockOutputLimiterTakeoffThrottle(this, "TKF_THR"),
BlockOutputLimiterTakeoffPitch(this, "TKF_PIT", true),
timestampLastIteration(hrt_absolute_time()),
_firstIterationAfterReset(true),
dtCalculated(false),
@@ -69,7 +71,7 @@ mTecs::~mTecs()
{
}
void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp)
void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode)
{
/* time measurement */
@@ -80,10 +82,10 @@ void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alt
warnx("***");
warnx("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp);
}
updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp);
updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode);
}
void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp) {
void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode) {
/* time measurement */
updateTimeMeasurement();
@@ -92,10 +94,10 @@ void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAn
if (_counter % 10 == 0) {
warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp);
}
updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp);
updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp, mode);
}
void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp)
void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode)
{
/* time measurement */
updateTimeMeasurement();
@@ -131,12 +133,21 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh
(double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2);
}
/* Set special ouput limiters if we are not in TECS_MODE_NORMAL */
BlockOutputLimiter *outputLimiterThrottle = NULL;
BlockOutputLimiter *outputLimiterPitch = NULL;
if (mode == TECS_MODE_TAKEOFF) {
outputLimiterThrottle = &BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector
outputLimiterPitch = &BlockOutputLimiterTakeoffPitch;
}
/** update control blocks **/
/* update total energy rate control block */
_throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError);
_throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError, outputLimiterThrottle);
/* update energy distribution rate control block */
_pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError);
_pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError, outputLimiterPitch);
if (_counter % 10 == 0) {
warnx("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f",