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fixed-wing runway takeoff: ramp in pitch constraints and throttle setpoint on takeoff rotation

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- consolidate takeoff rotation transition times for pitch constraints and throttle setpoint with a single param
- consolidate pitch takeoff constraint parameters (remove rwto_max_pitch, use nominal max)
- input correct units to rwto pitch constraint getters
- encapsulate absolute time interpolator method for transitions
- start runway ops from idle throttle
This commit is contained in:
Thomas Stastny
2022-10-06 07:36:29 +02:00
committed by Daniel Agar
parent a4349193b5
commit 4fbfc42805
4 changed files with 85 additions and 58 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+7 -7
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@@ -1490,9 +1490,9 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
}
// update tecs
const float takeoff_pitch_max_deg = _runway_takeoff.getMaxPitch(_param_fw_p_lim_max.get());
const float takeoff_pitch_min_deg = _runway_takeoff.getMinPitch(_takeoff_pitch_min.get(),
_param_fw_p_lim_min.get());
const float pitch_max = _runway_takeoff.getMaxPitch(math::radians(_param_fw_p_lim_max.get()));
const float pitch_min = _runway_takeoff.getMinPitch(math::radians(_takeoff_pitch_min.get()),
math::radians(_param_fw_p_lim_min.get()));
if (_runway_takeoff.resetIntegrators()) {
// reset integrals except yaw (which also counts for the wheel controller)
@@ -1505,19 +1505,19 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
tecs_update_pitch_throttle(control_interval,
altitude_setpoint_amsl,
target_airspeed,
radians(takeoff_pitch_min_deg),
radians(takeoff_pitch_max_deg),
pitch_min,
pitch_max,
_param_fw_thr_min.get(),
_param_fw_thr_max.get(),
false,
radians(takeoff_pitch_min_deg),
pitch_min,
_param_sinkrate_target.get(),
_param_fw_t_clmb_max.get());
_tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get()); // reset after TECS calculation
_att_sp.pitch_body = _runway_takeoff.getPitch(get_tecs_pitch());
_att_sp.thrust_body[0] = _runway_takeoff.getThrottle(now, get_tecs_thrust());
_att_sp.thrust_body[0] = _runway_takeoff.getThrottle(_param_fw_thr_idle.get(), get_tecs_thrust());
// apply flaps for takeoff according to the corresponding scale factor set via FW_FLAPS_TO_SCL
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_TAKEOFF;