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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/vtol_att_control/standard.cpp
+1 -1
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@@ -217,7 +217,7 @@ void Standard::update_transition_state()
_airspeed_trans_blend_margin;
// time based blending when no airspeed sensor is set
} else if (_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) {
} else if (!_param_fw_use_airspd.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) {
mc_weight = 1.0f - _time_since_trans_start / getMinimumFrontTransitionTime();
mc_weight = math::constrain(2.0f * mc_weight, 0.0f, 1.0f);
src/modules/vtol_att_control/tailsitter.cpp
+1 -1
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@@ -324,7 +324,7 @@ void Tailsitter::fill_actuator_outputs()
bool Tailsitter::isFrontTransitionCompletedBase()
{
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_param_fw_arsp_mode.get() ;
&& _param_fw_use_airspd.get();
bool transition_to_fw = false;
const float pitch = Eulerf(Quatf(_v_att->q)).theta();
src/modules/vtol_att_control/tiltrotor.cpp
+2 -2
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@@ -243,7 +243,7 @@ void Tiltrotor::update_transition_state()
_mc_roll_weight = 1.0f;
_mc_yaw_weight = 1.0f;
if (!_param_fw_arsp_mode.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
if (_param_fw_use_airspd.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
_airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed()) {
const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) /
(getTransitionAirspeed() - getBlendAirspeed());
@@ -252,7 +252,7 @@ void Tiltrotor::update_transition_state()
}
// without airspeed do timed weight changes
if ((_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) &&
if ((!_param_fw_use_airspd.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) &&
_time_since_trans_start > getMinimumFrontTransitionTime()) {
_mc_roll_weight = 1.0f - (_time_since_trans_start - getMinimumFrontTransitionTime()) /
(getOpenLoopFrontTransitionTime() - getMinimumFrontTransitionTime());
src/modules/vtol_att_control/vtol_type.cpp
+1 -1
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@@ -208,7 +208,7 @@ bool VtolType::isFrontTransitionCompletedBase()
{
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_param_fw_arsp_mode.get();
&& _param_fw_use_airspd.get();
const bool minimum_trans_time_elapsed = _time_since_trans_start > getMinimumFrontTransitionTime();
const bool openloop_trans_time_elapsed = _time_since_trans_start > getOpenLoopFrontTransitionTime();
src/modules/vtol_att_control/vtol_type.h
+1 -1
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@@ -354,7 +354,7 @@ protected:
(ParamFloat<px4::params::VT_ARSP_TRANS>) _param_vt_arsp_trans,
(ParamFloat<px4::params::VT_F_TRANS_THR>) _param_vt_f_trans_thr,
(ParamFloat<px4::params::VT_ARSP_BLEND>) _param_vt_arsp_blend,
(ParamBool<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
(ParamFloat<px4::params::VT_TRANS_TIMEOUT>) _param_vt_trans_timeout,
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
(ParamInt<px4::params::VT_FW_DIFTHR_EN>) _param_vt_fw_difthr_en,