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TECS: ramp up fast descend over 2_s to ramp down the throttle command

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Konrad
2024-09-05 17:08:53 +02:00
committed by KonradRudin
parent 585c92796d
commit 4713a6737e
4 changed files with 50 additions and 17 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
+2 -1
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@@ -424,7 +424,7 @@ FixedwingPositionControl::tecs_status_publish(float alt_sp, float equivalent_air
tecs_status.height_rate_setpoint = debug_output.control.altitude_rate_control;
tecs_status.height_rate = -_local_pos.vz;
tecs_status.equivalent_airspeed_sp = equivalent_airspeed_sp;
tecs_status.true_airspeed_sp = _eas2tas * equivalent_airspeed_sp;
tecs_status.true_airspeed_sp = debug_output.true_airspeed_sp;
tecs_status.true_airspeed_filtered = debug_output.true_airspeed_filtered;
tecs_status.true_airspeed_derivative_sp = debug_output.control.true_airspeed_derivative_control;
tecs_status.true_airspeed_derivative = debug_output.true_airspeed_derivative;
@@ -439,6 +439,7 @@ FixedwingPositionControl::tecs_status_publish(float alt_sp, float equivalent_air
tecs_status.pitch_sp_rad = _tecs.get_pitch_setpoint();
tecs_status.throttle_trim = throttle_trim;
tecs_status.underspeed_ratio = _tecs.get_underspeed_ratio();
tecs_status.fast_descend_ratio = debug_output.fast_descend;
tecs_status.timestamp = hrt_absolute_time();