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fw pos control: add param to enable/disable usage of terrain estimate during landing

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Thomas Gubler
2014-09-23 09:37:28 +02:00
parent 32131a069e
commit 852159d9ed
2 changed files with 8 additions and 6 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+5 -1
View File
@@ -240,6 +240,7 @@ private:
float land_heading_hold_horizontal_distance;
float land_flare_pitch_min_deg;
float land_flare_pitch_max_deg;
int land_use_terrain_estimate;
} _parameters; /**< local copies of interesting parameters */
@@ -287,6 +288,7 @@ private:
param_t land_heading_hold_horizontal_distance;
param_t land_flare_pitch_min_deg;
param_t land_flare_pitch_max_deg;
param_t land_use_terrain_estimate;
} _parameter_handles; /**< handles for interesting parameters */
@@ -474,6 +476,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
_parameter_handles.land_flare_pitch_min_deg = param_find("FW_FLARE_PMIN");
_parameter_handles.land_flare_pitch_max_deg = param_find("FW_FLARE_PMAX");
_parameter_handles.land_use_terrain_estimate= param_find("FW_LND_USETER");
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
_parameter_handles.time_const_throt = param_find("FW_T_THRO_CONST");
@@ -576,6 +579,7 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance));
param_get(_parameter_handles.land_flare_pitch_min_deg, &(_parameters.land_flare_pitch_min_deg));
param_get(_parameter_handles.land_flare_pitch_max_deg, &(_parameters.land_flare_pitch_max_deg));
param_get(_parameter_handles.land_use_terrain_estimate, &(_parameters.land_use_terrain_estimate));
_l1_control.set_l1_damping(_parameters.l1_damping);
_l1_control.set_l1_period(_parameters.l1_period);
@@ -813,7 +817,7 @@ float FixedwingPositionControl::get_terrain_altitude_landing(float land_setpoint
/* Decide if the terrain estimation can be used, once we switched to using the terrain we stick with it
* for the whole landing */
if (global_pos.terrain_alt_valid || land_useterrain) {
if (_parameters.land_use_terrain_estimate && (global_pos.terrain_alt_valid || land_useterrain)) {
if(!land_useterrain) {
mavlink_log_info(_mavlink_fd, "#audio: Landing, using terrain estimate");
land_useterrain = true;
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+3 -5
View File
@@ -412,15 +412,13 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f);
PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
/**
* Relative altitude threshold for range finder measurements for use during landing
* Enable or disable usage of terrain estimate during landing
*
* range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT
* set to < 0 to disable
* the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location
* 0: disabled, 1: enabled
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f);
PARAM_DEFINE_INT32(FW_LND_USETER, 0);
/**
* Flare, minimum pitch