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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.hpp
+4 -8
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@@ -34,10 +34,10 @@
/**
* @file fw_path_navigation_main.hpp
* Implementation of a generic position controller based on the L1 norm. Outputs a bank / roll
* Implementation of a generic path navigation. Outputs a bank / roll
* angle, equivalent to a lateral motion (for copters and rovers).
*
* The implementation for the controllers is in the ECL library. This class only
* The implementation for the controllers is in a separate library. This class only
* interfaces to the library.
*
* @author Lorenz Meier <lorenz@px4.io>
@@ -156,10 +156,6 @@ static constexpr float MIN_PITCH_DURING_MANUAL_TAKEOFF = 0.0f;
// altitude while waiting for navigator to flag it exceeded
static constexpr float kClearanceAltitudeBuffer = 10.0f;
// [m] a very large number to hopefully avoid the "fly back" case in L1 waypoint following logic once passed the second
// waypoint in the segment. this is unecessary with NPFG.
static constexpr float L1_VIRTUAL_TAKEOFF_WP_DIST = 1.0e6f;
// [m/s] maximum rate at which the touchdown position can be nudged
static constexpr float MAX_TOUCHDOWN_POSITION_NUDGE_RATE = 4.0f;
@@ -841,7 +837,7 @@ private:
(ParamFloat<px4::params::FW_GND_SPD_MIN>) _param_fw_gnd_spd_min,
(ParamFloat<px4::params::FW_L1_R_SLEW_MAX>) _param_fw_l1_r_slew_max,
(ParamFloat<px4::params::FW_PN_R_SLEW_MAX>) _param_fw_pn_r_slew_max,
(ParamFloat<px4::params::FW_R_LIM>) _param_fw_r_lim,
(ParamFloat<px4::params::NPFG_PERIOD>) _param_npfg_period,
@@ -917,7 +913,7 @@ private:
(ParamFloat<px4::params::FW_WING_SPAN>) _param_fw_wing_span,
(ParamFloat<px4::params::FW_WING_HEIGHT>) _param_fw_wing_height,
(ParamFloat<px4::params::RWTO_L1_PERIOD>) _param_rwto_l1_period,
(ParamFloat<px4::params::RWTO_NPFG_PERIOD>) _param_rwto_npfg_period,
(ParamBool<px4::params::RWTO_NUDGE>) _param_rwto_nudge,
(ParamFloat<px4::params::FW_LND_FL_TIME>) _param_fw_lnd_fl_time,