fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 12:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Handle setpoint types properly for fixedwing position control

Browse Source 
Handle setpoint types properly for fixedwing position control
This commit is contained in:
Jaeyoung-Lim
2021-11-07 19:21:00 -05:00
committed by Daniel Agar
parent f43adaeeb5
commit 6a2ebfc0cc
1 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+5 -5
View File
@@ -787,7 +787,7 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
} }
/* Copy thrust output for publication, handle special cases */ /* Copy thrust output for publication, handle special cases */
if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF && // launchdetector only available in auto if (_position_sp_type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF && // launchdetector only available in auto
_launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS && _launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS &&
!_runway_takeoff.runwayTakeoffEnabled()) { !_runway_takeoff.runwayTakeoffEnabled()) {
@@ -796,12 +796,12 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
the pre-takeoff throttle and the idle throttle normally map to the same parameter. */ the pre-takeoff throttle and the idle throttle normally map to the same parameter. */
_att_sp.thrust_body[0] = _param_fw_thr_idle.get(); _att_sp.thrust_body[0] = _param_fw_thr_idle.get();
} else if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF && } else if (_position_sp_type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
_runway_takeoff.runwayTakeoffEnabled()) { _runway_takeoff.runwayTakeoffEnabled()) {
_att_sp.thrust_body[0] = _runway_takeoff.getThrottle(now, get_tecs_thrust()); _att_sp.thrust_body[0] = _runway_takeoff.getThrottle(now, get_tecs_thrust());
} else if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_IDLE) { } else if (_position_sp_type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_att_sp.thrust_body[0] = 0.0f; _att_sp.thrust_body[0] = 0.0f;
@@ -821,11 +821,11 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
bool use_tecs_pitch = true; bool use_tecs_pitch = true;
// auto runway takeoff // auto runway takeoff
use_tecs_pitch &= !(pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF && use_tecs_pitch &= !(_position_sp_type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
(_launch_detection_state == LAUNCHDETECTION_RES_NONE || _runway_takeoff.runwayTakeoffEnabled())); (_launch_detection_state == LAUNCHDETECTION_RES_NONE || _runway_takeoff.runwayTakeoffEnabled()));
// flaring during landing // flaring during landing
use_tecs_pitch &= !(pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LAND && _land_noreturn_vertical); use_tecs_pitch &= !(_position_sp_type == position_setpoint_s::SETPOINT_TYPE_LAND && _land_noreturn_vertical);
if (use_tecs_pitch) { if (use_tecs_pitch) {
_att_sp.pitch_body = get_tecs_pitch(); _att_sp.pitch_body = get_tecs_pitch();