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FW mode manager: during takeoff only set height rate, not altitude setpoint

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2025-06-18 13:53:13 +02:00
parent bdf1895145
commit b1af09d391
2 changed files with 3 additions and 4 deletions
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2
docs/en/flight_modes_fw/takeoff.md
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@ -48,7 +48,7 @@ Parameters that affect both catapult/hand-launch and runway takeoffs:
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. |
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Takeoff airspeed (is set to [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) if not defined by operator) |
| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase |
| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX) | Maximum climb rate. |
| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX) | Climb rate setpoint during climbout to takeoff altitude. |
| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL) | Flaps setpoint during takeoff |
| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_TKO_AIRSPD is below FW_AIRSPD_MIN. |

5
src/modules/fw_mode_manager/FixedWingModeManager.cpp
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@ -1219,14 +1219,13 @@ FixedWingModeManager::control_auto_takeoff(const hrt_abstime &now, const float c
_param_fw_thr_idle.get() : NAN;
const fixed_wing_longitudinal_setpoint_s fw_longitudinal_control_sp = {
.timestamp = now,
.altitude = altitude_setpoint_amsl,
.height_rate = NAN,
.altitude = NAN,
.height_rate = _param_fw_t_clmb_max.get(),
.equivalent_airspeed = takeoff_airspeed,
.pitch_direct = NAN,
.throttle_direct = NAN
};
_longitudinal_ctrl_sp_pub.publish(fw_longitudinal_control_sp);
_ctrl_configuration_handler.setPitchMin(radians(_takeoff_pitch_min.get()));