fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Land detector: Turn throttle range parameter into proper user-configurable parameter

Browse Source
This commit is contained in:
Lorenz Meier 2017-01-19 23:25:22 +01:00
parent 9448b8cb52
commit 9ef97b78c8
3 changed files with 22 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/land_detector/MulticopterLandDetector.cpp
View File

@ -72,6 +72,7 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(),
_paramHandle.maxRotation = param_find("LNDMC_ROT_MAX");
_paramHandle.maxVelocity = param_find("LNDMC_XY_VEL_MAX");
_paramHandle.maxClimbRate = param_find("LNDMC_Z_VEL_MAX");
_paramHandle.throttleRange = param_find("LNDMC_THR_RANGE");
_paramHandle.minThrottle = param_find("MPC_THR_MIN");
_paramHandle.hoverThrottleAuto = param_find("MPC_THR_HOVER");
_paramHandle.minManThrottle = param_find("MPC_MANTHR_MIN");
@ -111,6 +112,7 @@ void MulticopterLandDetector::_update_params()
_params.maxRotation_rad_s = math::radians(_params.maxRotation_rad_s);
param_get(_paramHandle.minThrottle, &_params.minThrottle);
param_get(_paramHandle.hoverThrottleAuto, &_params.hoverThrottleAuto);
param_get(_paramHandle.throttleRange, &_params.throttleRange);
param_get(_paramHandle.minManThrottle, &_params.minManThrottle);
param_get(_paramHandle.freefall_acc_threshold, &_params.freefall_acc_threshold);
param_get(_paramHandle.freefall_trigger_time, &_params.freefall_trigger_time);
@ -144,7 +146,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
const uint64_t now = hrt_absolute_time();
// 10% of throttle range between min and hover
float sys_min_throttle = _params.minThrottle + (_params.hoverThrottleAuto - _params.minThrottle) * 0.1f;
float sys_min_throttle = _params.minThrottle + (_params.hoverThrottleAuto - _params.minThrottle) *
_params.throttleRange;
// Determine the system min throttle based on flight mode
if (!_control_mode.flag_control_altitude_enabled) {

2
src/modules/land_detector/MulticopterLandDetector.h
View File

@ -85,6 +85,7 @@ private:
param_t maxRotation;
param_t minThrottle;
param_t hoverThrottleAuto;
param_t throttleRange;
param_t minManThrottle;
param_t freefall_acc_threshold;
param_t freefall_trigger_time;
@ -96,6 +97,7 @@ private:
float maxRotation_rad_s;
float minThrottle;
float hoverThrottleAuto;
float throttleRange;
float minManThrottle;
float freefall_acc_threshold;
float freefall_trigger_time;

16
src/modules/land_detector/land_detector_params.c
View File

@ -88,6 +88,22 @@ PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
*/
PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);
/**
* Multicopter sub-hover throttle scaling
*
* The range between throttle_min and throttle_hover is scaled
* by this parameter to define how close to minimum throttle
* the current throttle value needs to be in order to get
* accepted as landed.
*
* @min 0.05
* @max 0.5
* @decimal 2
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_THR_RANGE, 0.1f);
/**
* Multicopter free-fall trigger time
*