fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 04:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw pos ctrl: takeoff special case only in takeoff

Browse Source
This commit is contained in:
Thomas Gubler
2014-12-13 17:20:42 +01:00
parent a78264507e
commit d0325f2b12
1 changed files with 27 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+27 -24
View File
@@ -1207,15 +1207,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt,
calculate_target_airspeed(_parameters.airspeed_trim),
eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
takeoff_throttle,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed);
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
takeoff_throttle,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed);
}
} else {
/* Tell the attitude controller to stop integrating while we are waiting
@@ -1290,18 +1290,18 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
was_in_deadband = true;
}
tecs_update_pitch_throttle(_hold_alt,
altctrl_airspeed,
eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
_parameters.throttle_max,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed,
TECS_MODE_NORMAL);
altctrl_airspeed,
eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
_parameters.throttle_max,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed,
TECS_MODE_NORMAL);
} else {
_control_mode_current = FW_POSCTRL_MODE_OTHER;
@@ -1320,10 +1320,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
}
/* Copy thrust output for publication */
if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
/* Set thrust to 0 to minimize damage */
_att_sp.thrust = 0.0f;
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO && // launchdetector only available in auot
pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
/* making sure again that the correct thrust is used,
* without depending on library calls for safety reasons */
@@ -1336,8 +1338,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* During a takeoff waypoint while waiting for launch the pitch sp is set
* already (not by tecs) */
if (!(pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
if (!(_control_mode_current == FW_POSCTRL_MODE_AUTO &&
pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
}