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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
2022-10-05 20:51:31 +02:00
committed by Daniel Agar
parent 46dbb7cf63
commit 47963b5b67
6 changed files with 57 additions and 38 deletions
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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()) {