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Merge pull request #14 from swissfang/launchpitchlimit_swissfang

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FW: additional upper pitch limit during launch (swissfang)
This commit is contained in:
Thomas Gubler
2014-09-11 22:01:57 +02:00
parent 6791ab72a9 98d643fdf8
commit dd5627726d
7 changed files with 79 additions and 8 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+22 -6
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@@ -383,7 +383,8 @@ private:
bool climbout_mode, float climbout_pitch_min_rad,
float altitude,
const math::Vector<3> &ground_speed,
tecs_mode mode = TECS_MODE_NORMAL);
tecs_mode mode = TECS_MODE_NORMAL,
bool pitch_max_special = false);
};
@@ -1120,7 +1121,13 @@ 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_deg = launchDetector.getPitchMax(_parameters.pitch_limit_max);
float takeoff_pitch_max_rad = math::radians(takeoff_pitch_max_deg);
/* 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 */
@@ -1128,7 +1135,7 @@ 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,
@@ -1136,7 +1143,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::radians(10.0f)),
_global_pos.alt,
ground_speed,
TECS_MODE_TAKEOFF);
TECS_MODE_TAKEOFF,
takeoff_pitch_max_deg != _parameters.pitch_limit_max);
/* limit roll motion to ensure enough lift */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f),
@@ -1204,7 +1212,7 @@ 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();
@@ -1390,7 +1398,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
bool climbout_mode, float climbout_pitch_min_rad,
float altitude,
const math::Vector<3> &ground_speed,
tecs_mode mode)
tecs_mode mode, bool pitch_max_special)
{
if (_mTecs.getEnabled()) {
/* Using mtecs library: prepare arguments for mtecs call */
@@ -1405,6 +1413,14 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
} else {
limitOverride.disablePitchMinOverride();
}
if (pitch_max_special) {
/* Use the maximum pitch from the argument */
limitOverride.enablePitchMaxOverride(M_RAD_TO_DEG_F * pitch_max_rad);
} else {
/* use pitch max set by MT param */
limitOverride.disablePitchMaxOverride();
}
_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
limitOverride);
} else {