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TECS: enable direct height-rate control

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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 f6de99d42e
commit ad9288536b
4 changed files with 25 additions and 7 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -2
View File
@@ -1858,7 +1858,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const hrt_abstime &now, flo
float pitch_min_rad, float pitch_max_rad,
float throttle_min, float throttle_max, float throttle_cruise,
bool climbout_mode, float climbout_pitch_min_rad,
uint8_t mode)
uint8_t mode, float hgt_rate_sp)
{
const float dt = math::constrain((now - _last_tecs_update) * 1e-6f, 0.01f, 0.05f);
_last_tecs_update = now;
@@ -1959,7 +1959,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const hrt_abstime &now, flo
throttle_min, throttle_max, throttle_cruise,
pitch_min_rad - radians(_param_fw_psp_off.get()),
pitch_max_rad - radians(_param_fw_psp_off.get()),
_param_climbrate_target.get(), _param_sinkrate_target.get());
_param_climbrate_target.get(), _param_sinkrate_target.get(), hgt_rate_sp);
tecs_status_publish();
}
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+1 -1
View File
@@ -347,7 +347,7 @@ private:
float pitch_min_rad, float pitch_max_rad,
float throttle_min, float throttle_max, float throttle_cruise,
bool climbout_mode, float climbout_pitch_min_rad,
uint8_t mode = tecs_status_s::TECS_MODE_NORMAL);
uint8_t mode = tecs_status_s::TECS_MODE_NORMAL, float hgt_rate_sp = NAN);
DEFINE_PARAMETERS(