fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-09 04:21:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

FW Position Control: Clean up speed mode params

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-11-25 09:50:28 +01:00
parent 55809e809c
commit 810c69d6ab
3 changed files with 13 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+5 -5
View File
@@ -132,7 +132,7 @@ FixedwingPositionControl::parameters_update()
_tecs.set_seb_rate_ff_gain(_param_seb_rate_ff.get());
_tecs.set_speed_weight_eco(_param_fw_t_spdweight_eco.get());
_tecs.set_height_error_time_constant_eco(_param_fw_t_h_error_tc_eco.get());
_tecs.set_height_error_time_constant_eco(_param_fw_t_alt_tc_eco.get());
// Landing slope
@@ -443,7 +443,7 @@ FixedwingPositionControl::get_cruise_airspeed_setpoint(const hrt_abstime &now, c
void
FixedwingPositionControl::updateSpeedMode()
{
FW_SPEED_MODE_COMMANDED new_mode = static_cast<FW_SPEED_MODE_COMMANDED>(_fw_spd_mode_set.get());
FW_SPEED_MODE_COMMANDED new_mode = static_cast<FW_SPEED_MODE_COMMANDED>(_param_fw_spd_mode_set.get());
switch (new_mode) {
case NORMAL:
@@ -495,9 +495,9 @@ FixedwingPositionControl::updateSpeedMode()
void
FixedwingPositionControl::check_eco_dash_allowed()
{
const float altitude_amsl_min = max(_tecs.get_hgt_setpoint() - fw_alt_err_u.get(),
_local_pos.ref_alt + fw_alt_min.get());
const float altitude_amsl_max = _tecs.get_hgt_setpoint() + fw_alt_err_o.get();
const float altitude_amsl_min = max(_tecs.get_hgt_setpoint() - _param_fw_spdm_alt_er_u.get(),
_local_pos.ref_alt + _param_fw_alt_spdm_min.get());
const float altitude_amsl_max = _tecs.get_hgt_setpoint() + _param_fw_spdm_alt_er_o.get();
const bool altitdue_conditions_met = _current_altitude <= altitude_amsl_max
&& _current_altitude >= altitude_amsl_min;
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+5 -5
View File
@@ -468,11 +468,11 @@ private:
//Speed mode params
(ParamFloat<px4::params::FW_WIND_ARSP_SC>) _param_fw_wind_arsp_sc,
(ParamInt<px4::params::FW_SPD_MODE_SET>) _fw_spd_mode_set,
(ParamFloat<px4::params::FW_ALT_MIN>) fw_alt_min,
(ParamFloat<px4::params::FW_ALT_ERR_U>) fw_alt_err_u,
(ParamFloat<px4::params::FW_ALT_ERR_O>) fw_alt_err_o,
(ParamFloat<px4::params::FW_T_ALT_TC_E>) _param_fw_t_h_error_tc_eco,
(ParamInt<px4::params::FW_SPD_MODE_SET>) _param_fw_spd_mode_set,
(ParamFloat<px4::params::FW_SPDM_ALT_MIN>) _param_fw_alt_spdm_min,
(ParamFloat<px4::params::FW_SPDM_ALT_ER_U>) _param_fw_spdm_alt_er_u,
(ParamFloat<px4::params::FW_SPDM_ALT_ER_O>) _param_fw_spdm_alt_er_o,
(ParamFloat<px4::params::FW_T_ALT_TC_E>) _param_fw_t_alt_tc_eco,
(ParamFloat<px4::params::FW_T_SPDWEIGHT_E>) _param_fw_t_spdweight_eco,
(ParamFloat<px4::params::FW_T_CLMB_R_SP_E>) _param_fw_t_clmb_r_sp_eco
)
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+3 -3
View File
@@ -901,7 +901,7 @@ PARAM_DEFINE_INT32(FW_SPD_MODE_SET, 0);
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_ALT_ERR_U, 10.f);
PARAM_DEFINE_FLOAT(FW_SPDM_ALT_ER_U, 10.f);
/**
* Max altitude overshoot for Eco/Dash
@@ -914,7 +914,7 @@ PARAM_DEFINE_FLOAT(FW_ALT_ERR_U, 10.f);
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_ALT_ERR_O, 20.f);
PARAM_DEFINE_FLOAT(FW_SPDM_ALT_ER_O, 20.f);
/**
* Min altitude for Eco/Dash
@@ -927,7 +927,7 @@ PARAM_DEFINE_FLOAT(FW_ALT_ERR_O, 20.f);
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_ALT_MIN, 50.f);
PARAM_DEFINE_FLOAT(FW_SPDM_ALT_MIN, 50.f);
/**
* Eco Mode: Speed <--> Altitude priority