fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 11:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Airspeed selector: remove ASPD_STALL and replace by FW_AIRSPD_STALL

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-05-10 13:43:05 +02:00
parent 3b27864e53
commit c8ec6b3d08
8 changed files with 42 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+8 -8
View File
@@ -245,7 +245,7 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
// than the minimum airspeed
if (_vehicle_status.is_vtol && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode) {
airspeed = _param_fw_airspd_min.get();
airspeed = _param_fw_airspd_stall.get();
}
}
@@ -256,7 +256,7 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
*
* Forcing the scaling to this value allows reasonable handheld tests.
*/
const float airspeed_constrained = constrain(constrain(airspeed, _param_fw_airspd_min.get(),
const float airspeed_constrained = constrain(constrain(airspeed, _param_fw_airspd_stall.get(),
_param_fw_airspd_max.get()), 0.1f, 1000.0f);
_airspeed_scaling = (_param_fw_arsp_scale_en.get()) ? (_param_fw_airspd_trim.get() / airspeed_constrained) : 1.0f;
@@ -427,7 +427,7 @@ void FixedwingAttitudeControl::Run()
control_input.roll_setpoint = _att_sp.roll_body;
control_input.pitch_setpoint = _att_sp.pitch_body;
control_input.yaw_setpoint = _att_sp.yaw_body;
control_input.airspeed_min = _param_fw_airspd_min.get();
control_input.airspeed_min = _param_fw_airspd_stall.get();
control_input.airspeed_max = _param_fw_airspd_max.get();
control_input.airspeed = airspeed;
control_input.scaler = _airspeed_scaling;
@@ -436,11 +436,11 @@ void FixedwingAttitudeControl::Run()
if (wheel_control) {
_local_pos_sub.update(&_local_pos);
/* Use min airspeed to calculate ground speed scaling region.
/* Use stall airspeed to calculate ground speed scaling region.
* Don't scale below gspd_scaling_trim
*/
float groundspeed = sqrtf(_local_pos.vx * _local_pos.vx + _local_pos.vy * _local_pos.vy);
float gspd_scaling_trim = (_param_fw_airspd_min.get() * 0.6f);
float gspd_scaling_trim = (_param_fw_airspd_stall.get());
control_input.groundspeed = groundspeed;
@@ -477,11 +477,11 @@ void FixedwingAttitudeControl::Run()
float trim_yaw = _param_trim_yaw.get();
if (airspeed < _param_fw_airspd_trim.get()) {
trim_roll += gradual(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), _param_fw_dtrim_r_vmin.get(),
trim_roll += gradual(airspeed, _param_fw_airspd_stall.get(), _param_fw_airspd_trim.get(), _param_fw_dtrim_r_vmin.get(),
0.0f);
trim_pitch += gradual(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), _param_fw_dtrim_p_vmin.get(),
trim_pitch += gradual(airspeed, _param_fw_airspd_stall.get(), _param_fw_airspd_trim.get(), _param_fw_dtrim_p_vmin.get(),
0.0f);
trim_yaw += gradual(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(), _param_fw_dtrim_y_vmin.get(),
trim_yaw += gradual(airspeed, _param_fw_airspd_stall.get(), _param_fw_airspd_trim.get(), _param_fw_dtrim_y_vmin.get(),
0.0f);
} else {
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+1 -1
View File
@@ -147,7 +147,7 @@ private:
(ParamFloat<px4::params::FW_ACRO_Z_MAX>) _param_fw_acro_z_max,
(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,