fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 00:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

AirspeedModule: Change to throttle without battery scaling (#26347)

Browse Source 
rather than the vehicle_thrust_setpoint used previously, which includes
battery scaling which we don't want, neither for synthetic airspeed nor
for the airspeed validator.
This commit is contained in:
Balduin
2026-01-27 11:03:44 +01:00
committed by GitHub
parent cac3c3c133
commit 50bb31491b
1 changed files with 8 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/airspeed_selector/airspeed_selector_main.cpp
+8 -8
View File
@@ -66,7 +66,7 @@
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/airspeed_wind.h>
#include <uORB/topics/flight_phase_estimation.h>
@@ -127,7 +127,7 @@ private:
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_thrust_setpoint_0_sub{ORB_ID(vehicle_thrust_setpoint), 0};
uORB::Subscription _vehicle_rates_setpoint_sub{ORB_ID(vehicle_rates_setpoint)};
uORB::Subscription _position_setpoint_sub{ORB_ID(position_setpoint)};
uORB::Subscription _launch_detection_status_sub{ORB_ID(launch_detection_status)};
uORB::SubscriptionMultiArray<airspeed_s, MAX_NUM_AIRSPEED_SENSORS> _airspeed_subs{ORB_ID::airspeed};
@@ -841,16 +841,16 @@ float AirspeedModule::get_synthetic_airspeed(float throttle)
void AirspeedModule::update_throttle_filter(hrt_abstime now)
{
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
vehicle_thrust_setpoint_s vehicle_thrust_setpoint_0{};
_vehicle_thrust_setpoint_0_sub.copy(&vehicle_thrust_setpoint_0);
vehicle_rates_setpoint_s vehicle_rates_setpoint{};
_vehicle_rates_setpoint_sub.copy(&vehicle_rates_setpoint);
float forward_thrust = vehicle_thrust_setpoint_0.xyz[0];
float forward_thrust = vehicle_rates_setpoint.thrust_body[0];
// if VTOL, use the total thrust vector length (otherwise needs special handling for tailsitters and tiltrotors)
if (_vehicle_status.is_vtol) {
forward_thrust = sqrtf(vehicle_thrust_setpoint_0.xyz[0] * vehicle_thrust_setpoint_0.xyz[0] +
vehicle_thrust_setpoint_0.xyz[1] * vehicle_thrust_setpoint_0.xyz[1] +
vehicle_thrust_setpoint_0.xyz[2] * vehicle_thrust_setpoint_0.xyz[2]);
forward_thrust = sqrtf(vehicle_rates_setpoint.thrust_body[0] * vehicle_rates_setpoint.thrust_body[0] +
vehicle_rates_setpoint.thrust_body[1] * vehicle_rates_setpoint.thrust_body[1] +
vehicle_rates_setpoint.thrust_body[2] * vehicle_rates_setpoint.thrust_body[2]);
}
const float dt = static_cast<float>(now - _t_last_throttle_fw) * 1e-6f;