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fw_pos_control_l1: fix launch detector dt update

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- fixes https://github.com/PX4/PX4-Autopilot/issues/18354
This commit is contained in:
Daniel Agar
2021-10-08 17:34:14 -04:00
parent 089f96f800
commit 4be45229bf
2 changed files with 5 additions and 6 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -3
View File
@@ -980,7 +980,7 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
control_landing(now, curr_pos, ground_speed, pos_sp_prev, pos_sp_curr);
} else if (position_sp_type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
control_takeoff(now, curr_pos, ground_speed, pos_sp_prev, pos_sp_curr);
control_takeoff(now, dt, curr_pos, ground_speed, pos_sp_prev, pos_sp_curr);
}
/* reset landing state */
@@ -1246,7 +1246,7 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
}
void
FixedwingPositionControl::control_takeoff(const hrt_abstime &now, const Vector2d &curr_pos,
FixedwingPositionControl::control_takeoff(const hrt_abstime &now, const float dt, const Vector2d &curr_pos,
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
{
/* current waypoint (the one currently heading for) */
@@ -1341,7 +1341,7 @@ FixedwingPositionControl::control_takeoff(const hrt_abstime &now, const Vector2d
}
/* Detect launch using body X (forward) acceleration */
_launchDetector.update(now, _body_acceleration(0));
_launchDetector.update(dt, _body_acceleration(0));
/* update our copy of the launch detection state */
_launch_detection_state = _launchDetector.getLaunchDetected();
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2 -3
View File
@@ -324,9 +324,8 @@ private:
bool control_position(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
void control_takeoff(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
void control_takeoff(const hrt_abstime &now, const float dt, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
void control_landing(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);