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parametrize some landing parameters

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Thomas Gubler 2013-11-06 18:07:19 +01:00
parent f92e7cd8c7
commit 6fc430bd39
2 changed files with 21 additions and 4 deletions
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22
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -213,6 +213,10 @@ private:
float land_slope_angle;
float land_slope_length;
float land_H1_virt;
float land_flare_alt_relative;
float land_thrust_lim_horizontal_distance;
} _parameters; /**< local copies of interesting parameters */
struct {
@ -250,6 +254,10 @@ private:
param_t land_slope_angle;
param_t land_slope_length;
param_t land_H1_virt;
param_t land_flare_alt_relative;
param_t land_thrust_lim_horizontal_distance;
} _parameter_handles; /**< handles for interesting parameters */
@ -379,6 +387,9 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.land_slope_angle = param_find("FW_LND_ANG");
_parameter_handles.land_slope_length = param_find("FW_LND_SLLR");
_parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT");
_parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
_parameter_handles.land_thrust_lim_horizontal_distance = param_find("FW_LND_TLDIST");
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
_parameter_handles.min_sink_rate = param_find("FW_T_SINK_MIN");
@ -460,6 +471,9 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length));
param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));
param_get(_parameter_handles.land_thrust_lim_horizontal_distance, &(_parameters.land_thrust_lim_horizontal_distance));
_l1_control.set_l1_damping(_parameters.l1_damping);
@ -474,7 +488,7 @@ FixedwingPositionControl::parameters_update()
_tecs.set_vertical_accel_limit(_parameters.vertical_accel_limit);
_tecs.set_height_comp_filter_omega(_parameters.height_comp_filter_omega);
_tecs.set_speed_comp_filter_omega(_parameters.speed_comp_filter_omega);
_tecs.set_roll_throttle_compensation(math::radians(_parameters.roll_throttle_compensation));
_tecs.set_roll_throttle_compensation(_parameters.roll_throttle_compensation);
_tecs.set_speed_weight(_parameters.speed_weight);
_tecs.set_pitch_damping(_parameters.pitch_damping);
_tecs.set_indicated_airspeed_min(_parameters.airspeed_min);
@ -810,10 +824,10 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
float airspeed_approach = 1.3f * _parameters.airspeed_min;
float landing_slope_angle_rad = math::radians(_parameters.land_slope_angle);
float flare_relative_alt = 15.0f;
float motor_lim_horizontal_distance = 30.0f;//be generous here as we currently have to rely on the user input for the waypoint
float flare_relative_alt = _parameters.land_flare_alt_relative;
float motor_lim_horizontal_distance = _parameters.land_thrust_lim_horizontal_distance;//be generous here as we currently have to rely on the user input for the waypoint
float L_wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), curr_wp.getX(), curr_wp.getY()) * _parameters.land_slope_length;
float H1 = 10.0f;
float H1 = _parameters.land_H1_virt;
float H0 = flare_relative_alt + H1;
float d1 = flare_relative_alt/tanf(landing_slope_angle_rad);
float flare_constant = (H0 * d1)/flare_relative_alt;//-flare_length/(logf(H1/H0));

3
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -114,3 +114,6 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
PARAM_DEFINE_FLOAT(FW_LND_ANG, 10.0f);
PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f);
PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f);
PARAM_DEFINE_FLOAT(FW_LND_TLDIST, 30.0f);