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Factor in reverse pusher delay on mission acceptance radius

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sanderux
2017-09-13 17:25:41 +02:00
committed by Sander Smeets
parent 5352cffe3f
commit 919b3a218a
2 changed files with 6 additions and 2 deletions
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src/modules/navigator/mission_block.cpp
+5 -2
View File
@@ -65,7 +65,8 @@ MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
_param_vtol_wv_takeoff(this, "VT_WV_TKO_EN", false), _param_vtol_wv_takeoff(this, "VT_WV_TKO_EN", false),
_param_vtol_wv_loiter(this, "VT_WV_LTR_EN", false), _param_vtol_wv_loiter(this, "VT_WV_LTR_EN", false),
_param_force_vtol(this, "NAV_FORCE_VT", false), _param_force_vtol(this, "NAV_FORCE_VT", false),
_param_back_trans_dec_mss(this, "VT_B_DEC_MSS", false) _param_back_trans_dec_mss(this, "VT_B_DEC_MSS", false),
_param_reverse_delay(this, "VT_B_REV_DEL", false)
{ {
} }
@@ -300,7 +301,9 @@ MissionBlock::is_mission_item_reached()
_navigator->get_local_position()->vy * _navigator->get_local_position()->vy); _navigator->get_local_position()->vy * _navigator->get_local_position()->vy);
if (_param_back_trans_dec_mss.get() > FLT_EPSILON && velocity > FLT_EPSILON) { if (_param_back_trans_dec_mss.get() > FLT_EPSILON && velocity > FLT_EPSILON) {
mission_acceptance_radius = (velocity / _param_back_trans_dec_mss.get() / 2) * velocity; mission_acceptance_radius = ((velocity / _param_back_trans_dec_mss.get() / 2) * velocity) + _param_reverse_delay.get() *
velocity;
} }
} }
src/modules/navigator/mission_block.h
+1
View File
@@ -149,6 +149,7 @@ protected:
control::BlockParamInt _param_vtol_wv_loiter; control::BlockParamInt _param_vtol_wv_loiter;
control::BlockParamInt _param_force_vtol; control::BlockParamInt _param_force_vtol;
control::BlockParamFloat _param_back_trans_dec_mss; control::BlockParamFloat _param_back_trans_dec_mss;
control::BlockParamFloat _param_reverse_delay;
}; };
#endif #endif