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Scale FW cruise throttle based on baro presure

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sanderux
2017-11-24 16:33:57 +01:00
committed by Sander Smeets
parent a61974709b
commit b305900cae
3 changed files with 55 additions and 3 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+6
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@@ -72,6 +72,7 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -101,6 +102,8 @@ static constexpr float MANUAL_THROTTLE_CLIMBOUT_THRESH =
0.85f; ///< a throttle / pitch input above this value leads to the system switching to climbout mode
static constexpr float ALTHOLD_EPV_RESET_THRESH = 5.0f;
static constexpr float MSL_PRESSURE_MILLIBAR = 1013.25f; ///< standard atmospheric pressure in millibar
using math::constrain;
using math::max;
using math::min;
@@ -155,6 +158,7 @@ private:
int _vehicle_land_detected_sub{-1}; ///< vehicle land detected subscription */
int _params_sub{-1}; ///< notification of parameter updates */
int _manual_control_sub{-1}; ///< notification of manual control updates */
int _sensor_baro_sub{-1};
orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint */
orb_advert_t _tecs_status_pub{nullptr}; ///< TECS status publication */
@@ -293,6 +297,7 @@ private:
float throttle_idle;
float throttle_cruise;
float throttle_slew_max;
float throttle_alt_scale;
float man_roll_max_rad;
float man_pitch_max_rad;
@@ -351,6 +356,7 @@ private:
param_t throttle_idle;
param_t throttle_cruise;
param_t throttle_slew_max;
param_t throttle_alt_scale;
param_t man_roll_max_deg;
param_t man_pitch_max_deg;