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fw landing: do not use relative altitudes in TECS

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Thomas Gubler
2014-03-15 16:39:18 +01:00
parent 37d2cff83d
commit 5894d72aa8
1 changed files with 2 additions and 2 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -2
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@@ -983,7 +983,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
land_stayonground = true;
}
_tecs.update_pitch_throttle(_R_nb, _att.pitch, relative_alt, flare_curve_alt_rel, calculate_target_airspeed(airspeed_land),
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + flare_curve_alt_rel, calculate_target_airspeed(airspeed_land),
_airspeed.indicated_airspeed_m_s, eas2tas,
false, flare_pitch_angle_rad,
0.0f, throttle_max, throttle_land,
@@ -1016,7 +1016,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
altitude_desired_rel = math::max(relative_alt, L_altitude_rel);
}
_tecs.update_pitch_throttle(_R_nb, _att.pitch, relative_alt, altitude_desired_rel, calculate_target_airspeed(airspeed_approach),
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach),
_airspeed.indicated_airspeed_m_s, eas2tas,
false, math::radians(_parameters.pitch_limit_min),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,