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additional upper pitch limit during launch

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The pitch limit can be used by the laucnhdetector to limit pitch during
critical phases of a launch. For example this can be used to limit pitch
while attached to a bungee differently from the standard pitch limit.
This commit is contained in:
Thomas Gubler
2014-09-08 12:42:42 +02:00
parent ee2eb98167
commit daf1618420
7 changed files with 66 additions and 5 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+9 -3
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@@ -1115,7 +1115,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS ?
launchDetector.getThrottlePreTakeoff() : _parameters.throttle_max;
/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
/* select maximum pitch: the launchdetector may impose another limit for the pitch
* depending on the state of the launch */
float takeoff_pitch_max_rad = math::radians(
launchDetector.getPitchMax(_parameters.pitch_limit_max));
/* apply minimum pitch and limit roll if target altitude is not within climbout_diff
* meters */
if (_parameters.climbout_diff > 0.001f && altitude_error > _parameters.climbout_diff) {
/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
@@ -1123,7 +1129,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
calculate_target_airspeed(1.3f * _parameters.airspeed_min),
eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
takeoff_pitch_max_rad,
_parameters.throttle_min, takeoff_throttle,
_parameters.throttle_cruise,
true,
@@ -1199,7 +1205,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* Copy thrust and pitch values from tecs
* making sure again that the correct thrust is used,
* without depending on library calls */
* without depending on library calls for safety reasons */
if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
_att_sp.thrust = launchDetector.getThrottlePreTakeoff();