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don't use virtual line anymore for takeoff but use correct starting point to navigate, updated default parameters for wheel controller

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This commit is contained in:
Andreas Antener
2015-10-14 22:01:09 +02:00
committed by Roman
parent 5949b6615d
commit 4e22d65325
5 changed files with 45 additions and 65 deletions
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src/modules/fw_att_control/fw_att_control_params.c
+2 -2
View File
@@ -230,7 +230,7 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_P, 0.3f);
PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);
/**
* Wheel steering rate integrator gain
@@ -254,7 +254,7 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f);
/**
* Maximum wheel steering rate
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+9 -23
View File
@@ -1375,45 +1375,31 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (_runway_takeoff.runwayTakeoffEnabled()) {
if (!_runway_takeoff.isInitialized()) {
_runway_takeoff.init(_att.yaw);
_runway_takeoff.init(_att.yaw, _global_pos.lat, _global_pos.lon);
/* need this already before takeoff is detected
* doesn't matter if it gets reset when takeoff is detected eventually */
_takeoff_ground_alt = _global_pos.alt;
// draw a line from takeoff location into the direction the UAV is heading
get_waypoint_heading_distance(
_runway_takeoff.getInitYaw(),
HDG_HOLD_DIST_NEXT,
*_runway_takeoff.getStartSP(),
*_runway_takeoff.getTargetSP(),
true);
mavlink_log_info(_mavlink_fd, "#Takeoff on runway");
}
// update takeoff path if we're reaching the end of it
if (get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon,
_runway_takeoff.getTargetSP()->lat, _runway_takeoff.getTargetSP()->lon) < HDG_HOLD_REACHED_DIST) {
get_waypoint_heading_distance(
_runway_takeoff.getInitYaw(),
HDG_HOLD_DIST_NEXT,
*_runway_takeoff.getStartSP(),
*_runway_takeoff.getTargetSP(),
false);
}
/* update navigation: _runway_takeoff decides if we target the current WP from setpoint triplet
* or the calculated one through initial heading */
_l1_control.navigate_waypoints(_runway_takeoff.getPrevWP(), _runway_takeoff.getCurrWP(curr_wp), current_position, ground_speed_2d);
float terrain_alt = get_terrain_altitude_takeoff(_takeoff_ground_alt, _global_pos);
// update runway takeoff helper
_runway_takeoff.update(
_airspeed.true_airspeed_m_s,
_global_pos.alt - terrain_alt,
_global_pos.lat,
_global_pos.lon,
_mavlink_fd);
/*
* Update navigation: _runway_takeoff returns the start WP according to mode and phase.
* If we use the navigator heading or not is decided later.
*/
_l1_control.navigate_waypoints(_runway_takeoff.getStartWP(), curr_wp, current_position, ground_speed_2d);
// update tecs
float takeoff_pitch_max_deg = _runway_takeoff.getMaxPitch(_parameters.pitch_limit_max);
float takeoff_pitch_max_rad = math::radians(takeoff_pitch_max_deg);