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Fixed-wing Position controller: add modes for auto altitude and auto descend

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- bit of clean up
- add GPS failsafe mode auto_altitude, that will keep current altitude with a fixed-bank angle
for some time, then switches to auto_descend that will descend with constant sink rate
of 0.5m/s
- params controlling GPS failsafe are not FW params: NAV_GPSF_R --> FW_GPSF_R and
NAV_GPSF_LT --> FW_GPSF_LT

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-11-05 12:09:39 +03:00
committed by Roman Bapst
parent c73a1b4c68
commit b77487d69c
4 changed files with 197 additions and 43 deletions
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src/lib/parameters/param_translation.cpp
+14
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@@ -195,6 +195,20 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2021-10-21: translate NAV_GPSF_LT to FW_GPSF_LT and NAV_GPSF_R to FW_GPSF_R
{
if (strcmp("NAV_GPSF_LT", node->name) == 0) {
strcpy(node->name, "FW_GPSF_LT");
PX4_INFO("copying %s -> %s", "NAV_GPSF_LT", "FW_GPSF_LT");
}
if (strcmp("NAV_GPSF_R", node->name) == 0) {
strcpy(node->name, "FW_GPSF_R");
PX4_INFO("copying and inverting sign %s -> %s", "NAV_GPSF_R", "FW_GPSF_R");
}
}
// translate (SPI) calibration ID parameters. This can be removed after the next release (current release=1.10)
if (node->type != BSON_INT32) {