fly316/PX4-Autopilot
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Fixed-wing autoland: 1) The landing configuration (flaps, different airspeed) is now already set during the loiter down instead of at the start of the landing approach. This is done to avoid any mode changes (which can cause altitude/airspeed jumps) so close to the gorund. 2) A scaling factor for the TECS throttle time constant was added which allows tighter throttle control during the landing (i.e. close to the ground) than high up in the air

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This commit is contained in:
Philipp Oettershagen
2018-08-24 10:13:07 -04:00
committed by Daniel Agar
parent 790356ef6d
commit 4c4f585ad5
3 changed files with 44 additions and 8 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+4 -1
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@@ -267,6 +267,7 @@ private:
float max_climb_rate;
float max_sink_rate;
float speed_weight;
float time_const_throt;
float airspeed_min;
float airspeed_trim;
@@ -294,6 +295,7 @@ private:
float land_flare_pitch_max_deg;
int32_t land_use_terrain_estimate;
float land_airspeed_scale;
float land_throtTC_scale;
// VTOL
float airspeed_trans;
@@ -357,6 +359,7 @@ private:
param_t land_flare_pitch_max_deg;
param_t land_use_terrain_estimate;
param_t land_airspeed_scale;
param_t land_throtTC_scale;
param_t vtol_type;
} _parameter_handles {}; ///< handles for interesting parameters */
@@ -418,7 +421,7 @@ private:
bool update_desired_altitude(float dt);
bool control_position(const Vector2f &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_curr, const position_setpoint_s &pos_sp_next);
void control_takeoff(const Vector2f &curr_pos, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
void control_landing(const Vector2f &curr_pos, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev,