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Merge branch 'fw_autoland_att_tecs' into fw_autoland_att_tecs_navigator

Browse Source 
Conflicts:
	src/lib/external_lgpl/tecs/tecs.cpp
	src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
This commit is contained in:
Thomas Gubler
2013-11-25 21:22:00 +01:00
parent 94745fa0af 3c6f01bea8
commit 5447ecf67d
4 changed files with 60 additions and 35 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+6 -1
View File
@@ -217,6 +217,7 @@ private:
float loiter_hold_radius;
float heightrate_p;
float speedrate_p;
float land_slope_angle;
float land_slope_length;
@@ -260,6 +261,7 @@ private:
param_t loiter_hold_radius;
param_t heightrate_p;
param_t speedrate_p;
param_t land_slope_angle;
param_t land_slope_length;
@@ -431,6 +433,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.speed_weight = param_find("FW_T_SPDWEIGHT");
_parameter_handles.pitch_damping = param_find("FW_T_PTCH_DAMP");
_parameter_handles.heightrate_p = param_find("FW_T_HRATE_P");
_parameter_handles.speedrate_p = param_find("FW_T_SRATE_P");
/* fetch initial parameter values */
parameters_update();
@@ -497,6 +500,7 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate));
param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length));
@@ -523,6 +527,7 @@ FixedwingPositionControl::parameters_update()
_tecs.set_indicated_airspeed_max(_parameters.airspeed_max);
_tecs.set_max_climb_rate(_parameters.max_climb_rate);
_tecs.set_heightrate_p(_parameters.heightrate_p);
_tecs.set_speedrate_p(_parameters.speedrate_p);
/* sanity check parameters */
if (_parameters.airspeed_max < _parameters.airspeed_min ||
@@ -957,7 +962,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
if (altitude_error > 15.0f) {
/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min),
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(1.3f * _parameters.airspeed_min),
_airspeed.indicated_airspeed_m_s, eas2tas,
true, math::max(math::radians(mission_item_triplet.current.radius), math::radians(10.0f)),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+1
View File
@@ -113,6 +113,7 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
PARAM_DEFINE_FLOAT(FW_LND_ANG, 10.0f);
PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f);