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FW controllers: change param FW_ARSP_MODE to FW_USE_AIRSPD

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-12-21 11:34:28 +01:00
parent 1f2a0bc657
commit 9e0c8fd75e
14 changed files with 35 additions and 19 deletions
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src/modules/fw_rate_control/FixedwingRateControl.cpp
+1 -1
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@@ -162,7 +162,7 @@ float FixedwingRateControl::get_airspeed_and_update_scaling()
// if no airspeed measurement is available out best guess is to use the trim airspeed
float airspeed = _param_fw_airspd_trim.get();
if ((_param_fw_arsp_mode.get() == 0) && airspeed_valid) {
if (_param_fw_use_airspd.get() && airspeed_valid) {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _airspeed_validated_sub.get().calibrated_airspeed_m_s);
src/modules/fw_rate_control/FixedwingRateControl.hpp
+1 -1
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@@ -164,7 +164,7 @@ private:
(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
(ParamInt<px4::params::FW_ARSP_SCALE_EN>) _param_fw_arsp_scale_en,
src/modules/fw_rate_control/fw_rate_control_params.c
+8 -6
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@@ -41,16 +41,18 @@
*/
/**
* Airspeed mode
* Use airspeed for control
*
* On vehicles without airspeed sensor this parameter can be used to
* enable flying without an airspeed reading
* If set to 1, the airspeed measurement data, if valid, is used in the following controllers:
* - Rate controller: output scaling
* - Attitude controller: coordinated turn controller
* - Position controller: airspeed setpoint tracking, takeoff logic
* - VTOL: transition logic
*
* @value 0 Use airspeed in controller
* @value 1 Do not use airspeed in controller
* @boolean
* @group FW Rate Control
*/
PARAM_DEFINE_INT32(FW_ARSP_MODE, 0);
PARAM_DEFINE_INT32(FW_USE_AIRSPD, 1);
/**
* Pitch rate proportional gain.