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fw pos control: landing: fix argument order

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Thomas Gubler
2014-05-17 20:58:27 +02:00
parent fddcff1f5f
commit 885efa2cfe
1 changed files with 22 additions and 8 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+22 -8
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@@ -1047,11 +1047,17 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
altitude_desired_rel = math::max(relative_alt, L_altitude_rel);
}
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach), eas2tas,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel,
calculate_target_airspeed(airspeed_approach), eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
_parameters.throttle_max,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_pos_sp_triplet.current.alt + relative_alt,
false, math::radians(_parameters.pitch_limit_min), ground_speed);
ground_speed);
}
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) {
@@ -1107,10 +1113,18 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
} else {
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt,
calculate_target_airspeed(_parameters.airspeed_trim),
eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
_parameters.throttle_max,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed);
}
} else {