fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 16:28:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

FWPositionControl: HOTFIX: zero airspeed rate estimation input to TECS

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-16 16:58:08 +01:00
parent b33a8686f7
commit c7d4d1f45c
1 changed files with 6 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_path_navigation/FixedwingPositionControl.cpp
+6 -2
View File
@@ -2553,6 +2553,10 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const float control_interva
const float throttle_trim_comp = compensateTrimThrottleForDensityAndWeight(_param_fw_thr_trim.get(), throttle_min,
throttle_max);
// HOTFIX: the airspeed rate estimate using acceleration in body-forward direction has shown to lead to high biases
// when flying tight turns. It's in this case much safer to just set the estimated airspeed rate to 0.
const float airspeed_rate_estimate = 0.f;
_tecs.update(_pitch - radians(_param_fw_psp_off.get()),
_current_altitude,
alt_sp,
@@ -2566,11 +2570,11 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const float control_interva
pitch_max_rad - radians(_param_fw_psp_off.get()),
desired_max_climbrate,
desired_max_sinkrate,
_body_acceleration_x,
airspeed_rate_estimate,
-_local_pos.vz,
hgt_rate_sp);
tecs_status_publish(alt_sp, airspeed_sp, -_local_pos.vz, throttle_trim_comp);
tecs_status_publish(alt_sp, airspeed_sp, airspeed_rate_estimate, throttle_trim_comp);
}
float