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tecs: propagate altitude setpoint based on target climb/sink rate

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- avoids tecs always climbing and sinking and max rates and allows to fine tune these rates
- avoid numerical calculation of feedforward velocity using derivative, this
 was prone to jitter in dt

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2021-06-04 14:51:27 +02:00
committed by Silvan Fuhrer
parent 4b7416c05b
commit a5cc449e69
4 changed files with 41 additions and 69 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -2
View File
@@ -386,7 +386,7 @@ FixedwingPositionControl::tecs_status_publish()
break;
}
t.altitude_sp = _tecs.hgt_setpoint_adj();
t.altitude_sp = _tecs.hgt_setpoint();
t.altitude_filtered = _tecs.vert_pos_state();
t.true_airspeed_sp = _tecs.TAS_setpoint_adj();
@@ -1947,7 +1947,8 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const hrt_abstime &now, flo
climbout_pitch_min_rad - radians(_param_fw_psp_off.get()),
throttle_min, throttle_max, throttle_cruise,
pitch_min_rad - radians(_param_fw_psp_off.get()),
pitch_max_rad - radians(_param_fw_psp_off.get()));
pitch_max_rad - radians(_param_fw_psp_off.get()),
_param_climbrate_target.get(), _param_sinkrate_target.get());
tecs_status_publish();
}
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2
View File
@@ -396,6 +396,8 @@ private:
(ParamFloat<px4::params::FW_T_STE_R_TC>) _param_ste_rate_time_const,
(ParamFloat<px4::params::FW_T_TAS_R_TC>) _param_tas_rate_time_const,
(ParamFloat<px4::params::FW_T_SEB_R_FF>) _param_seb_rate_ff,
(ParamFloat<px4::params::FW_T_CLIMB_R_SP>) _param_climbrate_target,
(ParamFloat<px4::params::FW_T_SINK_R_SP>) _param_sinkrate_target,
(ParamFloat<px4::params::FW_THR_ALT_SCL>) _param_fw_thr_alt_scl,
(ParamFloat<px4::params::FW_THR_CRUISE>) _param_fw_thr_cruise,