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mtecs: landing mode which limits pitch and as well throttle at the end of the landing

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This commit is contained in:
Thomas Gubler
2014-05-01 13:53:47 +02:00
parent 76e47c3135
commit dd8bfc2a0b
4 changed files with 60 additions and 17 deletions
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src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+8
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@@ -63,6 +63,8 @@ mTecs::mTecs() :
_BlockOutputLimiterTakeoffPitch(this, "TKF_PIT", true),
_BlockOutputLimiterUnderspeedThrottle(this, "USP_THR"),
_BlockOutputLimiterUnderspeedPitch(this, "USP_PIT", true),
_BlockOutputLimiterLandThrottle(this, "LND_THR"),
_BlockOutputLimiterLandPitch(this, "LND_PIT", true),
timestampLastIteration(hrt_absolute_time()),
_firstIterationAfterReset(true),
_dtCalculated(false),
@@ -148,6 +150,12 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh
if (mode == TECS_MODE_TAKEOFF) {
outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector
outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
} else if (mode == TECS_MODE_LAND) {
// only limit pitch but do not limit throttle
outputLimiterPitch = &_BlockOutputLimiterLandPitch;
} else if (mode == TECS_MODE_LAND_THROTTLELIM) {
outputLimiterThrottle = &_BlockOutputLimiterLandThrottle;
outputLimiterPitch = &_BlockOutputLimiterLandPitch;
} else if (mode == TECS_MODE_UNDERSPEED) {
outputLimiterThrottle = &_BlockOutputLimiterUnderspeedThrottle;
outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch;
src/modules/fw_pos_control_l1/mtecs/mTecs.h
+7 -3
View File
@@ -61,7 +61,9 @@ public:
typedef enum {
TECS_MODE_NORMAL,
TECS_MODE_UNDERSPEED,
TECS_MODE_TAKEOFF
TECS_MODE_TAKEOFF,
TECS_MODE_LAND,
TECS_MODE_LAND_THROTTLELIM
} tecs_mode;
/*
@@ -111,8 +113,10 @@ protected:
/* Output Limits in special modes */
BlockOutputLimiter _BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */
BlockOutputLimiter _BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */
BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits during takeoff */
BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit during takeoff */
BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits when underspeed is detected */
BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit when underspeed is detected */
BlockOutputLimiter _BlockOutputLimiterLandThrottle; /**< Throttle Limits during landing (only in last phase)*/
BlockOutputLimiter _BlockOutputLimiterLandPitch; /**< Pitch Limit during landing */
/* Time measurements */
hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */
src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
+37
View File
@@ -323,3 +323,40 @@ PARAM_DEFINE_FLOAT(MT_USP_PIT_MIN, -45.0f);
*/
PARAM_DEFINE_FLOAT(MT_USP_PIT_MAX, 0.0f);
/**
* Minimal throttle in landing mode (only last phase of landing)
*
* @min 0.0f
* @max 1.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_LND_THR_MIN, 0.0f);
/**
* Maximal throttle in landing mode (only last phase of landing)
*
* @min 0.0f
* @max 1.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_LND_THR_MAX, 0.0f);
/**
* Minimal pitch in landing mode
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_LND_PIT_MIN, -5.0f);
/**
* Maximal pitch in landing mode
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_LND_PIT_MAX, 15.0f);