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fw_pos_control_l1 add new simple min groundspeed

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This commit is contained in:
Daniel Agar
2019-08-07 18:50:42 +02:00
committed by Lorenz Meier
parent 161429f8c6
commit e43e37cc46
3 changed files with 39 additions and 48 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+4 -3
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@@ -373,6 +373,9 @@ private:
param_t vtol_type;
} _parameter_handles {}; ///< handles for interesting parameters */
DEFINE_PARAMETERS(
(ParamFloat<px4::params::FW_GND_SPD_MIN>) _groundspeed_min
)
// Update our local parameter cache.
int parameters_update();
@@ -438,9 +441,7 @@ private:
float get_tecs_thrust();
float get_demanded_airspeed();
float calculate_target_airspeed(float airspeed_demand);
void calculate_gndspeed_undershoot(const Vector2f &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
float calculate_target_airspeed(float airspeed_demand, const Vector2f &ground_speed);
/**
* Handle incoming vehicle commands