fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-09 11:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Konrad
2023-11-20 20:42:30 +01:00
committed by KonradRudin
parent e17faece3d
commit 6a789b54c6
5 changed files with 85 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control/FixedwingPositionControl.cpp
+2
View File
@@ -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());