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fw_path_navigation: Remove explicit L1 mentioning.

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Konrad
2023-02-09 17:51:55 +01:00
committed by Silvan Fuhrer
parent 3e200bca0d
commit 6bdeb43e0d
16 changed files with 31 additions and 36 deletions
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src/modules/fw_path_navigation/FixedwingPositionControl.cpp
+4 -4
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@@ -113,7 +113,7 @@ FixedwingPositionControl::parameters_update()
_npfg.setRollTimeConst(_param_npfg_roll_time_const.get());
_npfg.setSwitchDistanceMultiplier(_param_npfg_switch_distance_multiplier.get());
_npfg.setRollLimit(radians(_param_fw_r_lim.get()));
_npfg.setRollSlewRate(radians(_param_fw_l1_r_slew_max.get()));
_npfg.setRollSlewRate(radians(_param_fw_pn_r_slew_max.get()));
_npfg.setPeriodSafetyFactor(_param_npfg_period_safety_factor.get());
// TECS parameters
@@ -1338,7 +1338,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
// tune up the lateral position control guidance when on the ground
if (_att_sp.fw_control_yaw_wheel) {
_npfg.setPeriod(_param_rwto_l1_period.get());
_npfg.setPeriod(_param_rwto_npfg_period.get());
}
const Vector2f start_pos_local = _global_local_proj_ref.project(_runway_takeoff.getStartPosition()(0),
@@ -1578,7 +1578,7 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
/* lateral guidance first, because npfg will adjust the airspeed setpoint if necessary */
// tune up the lateral position control guidance when on the ground
const float ground_roll_npfg_period = flare_ramp_interpolator * _param_rwto_l1_period.get() +
const float ground_roll_npfg_period = flare_ramp_interpolator * _param_rwto_npfg_period.get() +
(1.0f - flare_ramp_interpolator) * _param_npfg_period.get();
_npfg.setPeriod(ground_roll_npfg_period);
@@ -1853,7 +1853,7 @@ FixedwingPositionControl::control_manual_position(const float control_interval,
// do slew rate limiting on roll if enabled
float roll_sp_new = _manual_control_setpoint.roll * radians(_param_fw_r_lim.get());
const float roll_rate_slew_rad = radians(_param_fw_l1_r_slew_max.get());
const float roll_rate_slew_rad = radians(_param_fw_pn_r_slew_max.get());
if (control_interval > 0.f && roll_rate_slew_rad > 0.f) {
roll_sp_new = constrain(roll_sp_new, _att_sp.roll_body - roll_rate_slew_rad * control_interval,