fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 10:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

TECS: in airspeed-less mode, set airspeed estimate to cruise airspeed

Browse Source 
In airspeed-less mode, instead of the average of min/max airspeed, take the cruise
airspeed (from param) for current airspeed estimate. A diff of the airspeed setpoint
from this value results in increased enegery demand (incerase of throttle) even
in airspeed-less mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-05-28 14:25:53 +02:00
parent f9fe0e3746
commit 4b42a1639b
3 changed files with 5 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+1
View File
@@ -109,6 +109,7 @@ FixedwingPositionControl::parameters_update()
_tecs.set_max_climb_rate(_param_fw_t_clmb_max.get());
_tecs.set_max_sink_rate(_param_fw_t_sink_max.get());
_tecs.set_speed_weight(_param_fw_t_spdweight.get());
_tecs.set_equivalent_airspeed_cruise(_param_fw_airspd_trim.get());
_tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get());
_tecs.set_equivalent_airspeed_max(_param_fw_airspd_max.get());
_tecs.set_min_sink_rate(_param_fw_t_sink_min.get());