fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 05:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

VTOL rate control architecture improvements (#10819)

Browse Source 
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
This commit is contained in:
Roman Bapst
2018-11-22 02:32:40 +01:00
committed by Daniel Agar
parent 75c1396ed7
commit 90bfdb6f0a
28 changed files with 387 additions and 414 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/gnd_pos_control/GroundRoverPositionControl.cpp
+4 -4
View File
@@ -261,7 +261,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f &current_pos
_att_sp.roll_body = 0.0f;
_att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = 0.0f;
_att_sp.thrust = 0.0f;
_att_sp.thrust_body[0] = 0.0f;
} else if ((pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_POSITION)
|| (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) {
@@ -272,7 +272,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f &current_pos
_att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = _gnd_control.nav_bearing();
_att_sp.fw_control_yaw = true;
_att_sp.thrust = mission_throttle;
_att_sp.thrust_body[0] = mission_throttle;
} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
@@ -284,7 +284,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f &current_pos
_att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = _gnd_control.nav_bearing();
_att_sp.fw_control_yaw = true;
_att_sp.thrust = 0.0f;
_att_sp.thrust_body[0] = 0.0f;
}
if (was_circle_mode && !_gnd_control.circle_mode()) {
@@ -299,7 +299,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f &current_pos
_att_sp.pitch_body = 0.0f;
_att_sp.yaw_body = 0.0f;
_att_sp.fw_control_yaw = true;
_att_sp.thrust = 0.0f;
_att_sp.thrust_body[0] = 0.0f;
/* do not publish the setpoint */
setpoint = false;