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FW Attidue Controller: use FW_AIRSPD_MIN for DTRIM instead of STALL

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This is to make it again in line with the parameter description and docs

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-18 17:25:10 +01:00
parent 64768f1cda
commit cec16dd9b3
2 changed files with 4 additions and 3 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+3 -3
View File
@@ -488,13 +488,13 @@ void FixedwingAttitudeControl::Run()
float trim_yaw = _param_trim_yaw.get();
if (airspeed < _param_fw_airspd_trim.get()) {
trim_roll += interpolate(airspeed, _param_fw_airspd_stall.get(), _param_fw_airspd_trim.get(),
trim_roll += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
_param_fw_dtrim_r_vmin.get(),
0.0f);
trim_pitch += interpolate(airspeed, _param_fw_airspd_stall.get(), _param_fw_airspd_trim.get(),
trim_pitch += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
_param_fw_dtrim_p_vmin.get(),
0.0f);
trim_yaw += interpolate(airspeed, _param_fw_airspd_stall.get(), _param_fw_airspd_trim.get(),
trim_yaw += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
_param_fw_dtrim_y_vmin.get(),
0.0f);
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+1
View File
@@ -174,6 +174,7 @@ 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,