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fixed-wing runway takeoff: define explicit takeoff speeds

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previously a scale factor param on min airspeed was used to define the climbout airspeed for runway takeoff
additionally, the rotation speed was defined by another hardcoded scale on top of the previously scaled min airspeed
this commit explicitly defines a takeoff speed and rotation speed for runway takeoff in params, with option to disable
This commit is contained in:
Thomas Stastny
2022-11-22 13:46:25 -05:00
committed by Daniel Agar
parent 46dbb7cf63
commit 47963b5b67
6 changed files with 57 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+4 -2
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@@ -1412,11 +1412,13 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
_runway_takeoff.forceSetFlyState();
}
_runway_takeoff.update(now, _airspeed, _current_altitude - _takeoff_ground_alt,
const float takeoff_airspeed = (_param_fw_tko_airspd.get() > FLT_EPSILON) ? _param_fw_tko_airspd.get() :
_param_fw_airspd_min.get();
_runway_takeoff.update(now, takeoff_airspeed, _airspeed, _current_altitude - _takeoff_ground_alt,
clearance_altitude_amsl - _takeoff_ground_alt,
&_mavlink_log_pub);
const float takeoff_airspeed = _runway_takeoff.getMinAirspeedScaling() * _param_fw_airspd_min.get();
float adjusted_min_airspeed = _param_fw_airspd_min.get();
if (takeoff_airspeed < _param_fw_airspd_min.get()) {
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+3 -1
View File
@@ -865,7 +865,9 @@ private:
(ParamInt<px4::params::FW_LND_NUDGE>) _param_fw_lnd_nudge,
(ParamInt<px4::params::FW_LND_ABORT>) _param_fw_lnd_abort,
(ParamFloat<px4::params::FW_WIND_ARSP_SC>) _param_fw_wind_arsp_sc
(ParamFloat<px4::params::FW_WIND_ARSP_SC>) _param_fw_wind_arsp_sc,
(ParamFloat<px4::params::FW_TKO_AIRSPD>) _param_fw_tko_airspd
)
};
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+15
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@@ -400,6 +400,21 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
*/
PARAM_DEFINE_FLOAT(FW_TKO_PITCH_MIN, 10.0f);
/**
* Takeoff Airspeed
*
* The calibrated airspeed setpoint TECS will stabilize to during the takeoff climbout.
*
* If set <= 0.0, FW_AIRSPD_MIN will be set by default.
*
* @unit m/s
* @min -1.0
* @decimal 1
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_TKO_AIRSPD, -1.0f);
/**
* Landing flare altitude (relative to landing altitude)
*
src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.cpp
+15 -11
View File
@@ -63,8 +63,8 @@ void RunwayTakeoff::init(const hrt_abstime &time_now, const float initial_yaw, c
takeoff_time_ = 0;
}
void RunwayTakeoff::update(const hrt_abstime &time_now, const float calibrated_airspeed, const float vehicle_altitude,
const float clearance_altitude, orb_advert_t *mavlink_log_pub)
void RunwayTakeoff::update(const hrt_abstime &time_now, const float takeoff_airspeed, const float calibrated_airspeed,
const float vehicle_altitude, const float clearance_altitude, orb_advert_t *mavlink_log_pub)
{
switch (takeoff_state_) {
case RunwayTakeoffState::THROTTLE_RAMP:
@@ -74,16 +74,20 @@ void RunwayTakeoff::update(const hrt_abstime &time_now, const float calibrated_a
break;
case RunwayTakeoffState::CLAMPED_TO_RUNWAY:
if (calibrated_airspeed > param_fw_airspd_min_.get() * param_rwto_airspd_scl_.get()) {
takeoff_time_ = time_now;
takeoff_state_ = RunwayTakeoffState::CLIMBOUT;
mavlink_log_info(mavlink_log_pub, "Takeoff airspeed reached, climbout\t");
events::send(events::ID("runway_takeoff_reached_airspeed"), events::Log::Info,
"Takeoff airspeed reached, climbout");
}
case RunwayTakeoffState::CLAMPED_TO_RUNWAY: {
const float rotation_airspeed = (param_rwto_rot_airspd_.get() > FLT_EPSILON) ? math::min(param_rwto_rot_airspd_.get(),
takeoff_airspeed) : 0.9f * takeoff_airspeed;
break;
if (calibrated_airspeed > rotation_airspeed) {
takeoff_time_ = time_now;
takeoff_state_ = RunwayTakeoffState::CLIMBOUT;
mavlink_log_info(mavlink_log_pub, "Takeoff airspeed reached, climbout\t");
events::send(events::ID("runway_takeoff_reached_airspeed"), events::Log::Info,
"Takeoff airspeed reached, climbout");
}
break;
}
case RunwayTakeoffState::CLIMBOUT:
if (vehicle_altitude > clearance_altitude) {
src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.h
+4 -9
View File
@@ -80,13 +80,14 @@ public:
* @brief Updates the state machine based on the current vehicle condition.
*
* @param time_now Absolute time since system boot [us]
* @param takeoff_airspeed Calibrated airspeed setpoint for the takeoff climbout [m/s]
* @param calibrated_airspeed Vehicle calibrated airspeed [m/s]
* @param vehicle_altitude Vehicle altitude (AGL) [m]
* @param clearance_altitude Altitude (AGL) above which we have cleared all occlusions in the runway path [m]
* @param mavlink_log_pub
*/
void update(const hrt_abstime &time_now, const float calibrated_airspeed, const float vehicle_altitude,
const float clearance_altitude, orb_advert_t *mavlink_log_pub);
void update(const hrt_abstime &time_now, const float takeoff_airspeed, const float calibrated_airspeed,
const float vehicle_altitude, const float clearance_altitude, orb_advert_t *mavlink_log_pub);
/**
* @return Current takeoff state
@@ -103,11 +104,6 @@ public:
*/
bool runwayTakeoffEnabled() { return param_rwto_tkoff_.get(); }
/**
* @return Scale factor for minimum indicated airspeed
*/
float getMinAirspeedScaling() { return param_rwto_airspd_scl_.get(); }
/**
* @return Initial vehicle yaw angle [rad]
*/
@@ -247,9 +243,8 @@ private:
(ParamFloat<px4::params::RWTO_MAX_THR>) param_rwto_max_thr_,
(ParamFloat<px4::params::RWTO_PSP>) param_rwto_psp_,
(ParamFloat<px4::params::RWTO_MAX_PITCH>) param_rwto_max_pitch_,
(ParamFloat<px4::params::RWTO_AIRSPD_SCL>) param_rwto_airspd_scl_,
(ParamFloat<px4::params::RWTO_RAMP_TIME>) param_rwto_ramp_time_,
(ParamFloat<px4::params::FW_AIRSPD_MIN>) param_fw_airspd_min_
(ParamFloat<px4::params::RWTO_ROT_AIRSPD>) param_rwto_rot_airspd_
)
};
src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c
+16 -15
View File
@@ -107,21 +107,6 @@ PARAM_DEFINE_FLOAT(RWTO_PSP, 0.0);
*/
PARAM_DEFINE_FLOAT(RWTO_MAX_PITCH, 20.0);
/**
* Min airspeed scaling factor for takeoff.
*
* Pitch up will be commanded when the following airspeed is reached:
* FW_AIRSPD_MIN * RWTO_AIRSPD_SCL
*
* @unit norm
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.01
* @group Runway Takeoff
*/
PARAM_DEFINE_FLOAT(RWTO_AIRSPD_SCL, 1.3);
/**
* Throttle ramp up time for runway takeoff
*
@@ -156,3 +141,19 @@ PARAM_DEFINE_FLOAT(RWTO_L1_PERIOD, 5.0f);
* @group Runway Takeoff
*/
PARAM_DEFINE_INT32(RWTO_NUDGE, 1);
/**
* Takeoff rotation airspeed
*
* The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up).
* Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD).
*
* If set <= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)
*
* @unit m/s
* @min -1.0
* @decimal 1
* @increment 0.1
* @group Runway Takeoff
*/
PARAM_DEFINE_FLOAT(RWTO_ROT_AIRSPD, -1.0f);