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FixedWingPositionControl: do not pass trim throttle via position setpoint triplet

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- trim throttle is handled entirely by the position controller
- navigator should use speed setpoints
- added flag gliding_enabled in position setpoint to stills support gliding

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2022-07-12 09:07:20 +02:00
committed by Martina Rivizzigno
parent cae7e1b88b
commit c05e0f076b
4 changed files with 11 additions and 51 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+1 -2
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@@ -628,7 +628,6 @@ private:
* @param pitch_max_rad Nominal pitch angle command maximum [rad]
* @param throttle_min Minimum throttle command [0,1]
* @param throttle_max Maximum throttle command [0,1]
* @param throttle_cruise Throttle required for level flight at cruising airspeed [0,1]
* @param climbout_mode True if TECS should engage climbout mode
* @param climbout_pitch_min_rad Minimum pitch angle command in climbout mode [rad]
* @param disable_underspeed_detection True if underspeed detection should be disabled
@@ -636,7 +635,7 @@ private:
*/
void tecs_update_pitch_throttle(const float control_interval, float alt_sp, float airspeed_sp,
float pitch_min_rad, float pitch_max_rad,
float throttle_min, float throttle_max, float throttle_cruise,
float throttle_min, float throttle_max,
bool climbout_mode, float climbout_pitch_min_rad,
bool disable_underspeed_detection = false, float hgt_rate_sp = NAN);