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TECS: allow for fast descend up to maximum airspeed. Use pitch control loop to control max airspeed while giving minimal throttle.

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This commit is contained in:
Konrad
2024-05-07 14:20:07 +02:00
committed by KonradRudin
parent e17faece3d
commit 6a789b54c6
5 changed files with 85 additions and 15 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
+2
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@@ -129,6 +129,7 @@ FixedwingPositionControl::parameters_update()
_tecs.set_speed_weight(_param_fw_t_spdweight.get());
_tecs.set_equivalent_airspeed_trim(_performance_model.getCalibratedTrimAirspeed());
_tecs.set_equivalent_airspeed_min(_performance_model.getMinimumCalibratedAirspeed());
_tecs.set_equivalent_airspeed_max(_performance_model.getMaximumCalibratedAirspeed());
_tecs.set_throttle_damp(_param_fw_t_thr_damping.get());
_tecs.set_integrator_gain_throttle(_param_fw_t_thr_integ.get());
_tecs.set_integrator_gain_pitch(_param_fw_t_I_gain_pit.get());
@@ -137,6 +138,7 @@ FixedwingPositionControl::parameters_update()
_tecs.set_roll_throttle_compensation(_param_fw_t_rll2thr.get());
_tecs.set_pitch_damping(_param_fw_t_ptch_damp.get());
_tecs.set_altitude_error_time_constant(_param_fw_t_h_error_tc.get());
_tecs.set_fast_descend_altitude_error(_param_fw_t_fast_alt_err.get());
_tecs.set_altitude_rate_ff(_param_fw_t_hrate_ff.get());
_tecs.set_airspeed_error_time_constant(_param_fw_t_tas_error_tc.get());
_tecs.set_ste_rate_time_const(_param_ste_rate_time_const.get());
src/modules/fw_pos_control/FixedwingPositionControl.hpp
+1
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@@ -964,6 +964,7 @@ private:
(ParamFloat<px4::params::FW_T_HRATE_FF>) _param_fw_t_hrate_ff,
(ParamFloat<px4::params::FW_T_ALT_TC>) _param_fw_t_h_error_tc,
(ParamFloat<px4::params::FW_T_F_ALT_ERR>) _param_fw_t_fast_alt_err,
(ParamFloat<px4::params::FW_T_THR_INTEG>) _param_fw_t_thr_integ,
(ParamFloat<px4::params::FW_T_I_GAIN_PIT>) _param_fw_t_I_gain_pit,
(ParamFloat<px4::params::FW_T_PTCH_DAMP>) _param_fw_t_ptch_damp,
src/modules/fw_pos_control/fw_path_navigation_params.c
+9
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@@ -633,6 +633,15 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.1f);
*/
PARAM_DEFINE_FLOAT(FW_T_ALT_TC, 5.0f);
/**
* Minimum altitude error needed to descend with max airspeed. A negative value disables fast descend.
*
* @min -1.0
* @decimal 0
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_F_ALT_ERR, -1.0f);
/**
* Height rate feed forward
*