fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 06:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

vtol_type: added explicit control over deceleration during backtransition

Browse Source 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-04-02 13:45:52 +03:00
committed by Roman Bapst
parent baf5e86f81
commit 47b5d51369
6 changed files with 101 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/vtol_att_control_main.cpp
+8
View File
@@ -85,6 +85,10 @@ VtolAttitudeControl::VtolAttitudeControl() :
_params_handles.fw_motors_off = param_find("VT_FW_MOT_OFFID");
_params_handles.diff_thrust = param_find("VT_FW_DIFTHR_EN");
_params_handles.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
_params_handles.dec_to_pitch_ff = param_find("VT_B_DEC_FF");
_params_handles.dec_to_pitch_i = param_find("VT_B_DEC_I");
_params_handles.back_trans_dec_sp = param_find("VT_B_DEC_SP");
_params_handles.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
_params_handles.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
@@ -285,6 +289,10 @@ VtolAttitudeControl::parameters_update()
// make sure parameters are feasible, require at least 1 m/s difference between transition and blend airspeed
_params.airspeed_blend = math::min(_params.airspeed_blend, _params.transition_airspeed - 1.0f);
param_get(_params_handles.back_trans_dec_sp, &_params.back_trans_dec_sp);
param_get(_params_handles.dec_to_pitch_ff, &_params.dec_to_pitch_ff);
param_get(_params_handles.dec_to_pitch_i, &_params.dec_to_pitch_i);
// update the parameters of the instances of base VtolType
if (_vtol_type != nullptr) {
_vtol_type->parameters_update();