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Consume speedweight from FW longitudinal config (#25709)

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* Consume speedweight from longitudinal config

* Constrain speed weight
This commit is contained in:
Jaeyoung Lim
2025-10-10 10:00:43 -07:00
committed by GitHub
parent 2f48cb4ef2
commit b95784e804
2 changed files with 7 additions and 0 deletions
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src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+6
View File
@@ -827,6 +827,12 @@ void FwLateralLongitudinalControl::updateLongitudinalControlConfiguration(const
} else {
_long_configuration.sink_rate_target = _param_sinkrate_target.get();
}
if (PX4_ISFINITE(configuration_in.speed_weight)) {
_long_configuration.speed_weight = math::constrain(configuration_in.speed_weight, 0.f, 2.f);
} else {
_long_configuration.speed_weight = _param_t_spdweight.get();
}
}
float FwLateralLongitudinalControl::getLoadFactor() const
src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp
+1
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@@ -157,6 +157,7 @@ private:
(ParamFloat<px4::params::FW_T_VERT_ACC>) _param_fw_t_vert_acc,
(ParamFloat<px4::params::FW_T_STE_R_TC>) _param_ste_rate_time_const,
(ParamFloat<px4::params::FW_T_SEB_R_FF>) _param_seb_rate_ff,
(ParamFloat<px4::params::FW_T_SPDWEIGHT>) _param_t_spdweight,
(ParamFloat<px4::params::FW_T_SPD_STD>) _param_speed_standard_dev,
(ParamFloat<px4::params::FW_T_SPD_DEV_STD>) _param_speed_rate_standard_dev,
(ParamFloat<px4::params::FW_T_SPD_PRC_STD>) _param_process_noise_standard_dev,