fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Back transition duration based on deceleration m/s/s

Browse Source
This commit is contained in:
sanderux 2017-07-27 01:54:41 +02:00 committed by Sander Smeets
parent 2e481867e5
commit e9516db5b0
3 changed files with 20 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
src/modules/navigator/mission_block.cpp
View File

@ -65,7 +65,7 @@ MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
_param_vtol_wv_takeoff(this, "VT_WV_TKO_EN", false),
_param_vtol_wv_loiter(this, "VT_WV_LTR_EN", false),
_param_force_vtol(this, "NAV_FORCE_VT", false),
_param_back_trans_dur(this, "VT_B_TRANS_DUR", false)
_param_back_trans_dec_mss(this, "VT_B_DEC_MSS", false)
{
}
@ -296,12 +296,11 @@ MissionBlock::is_mission_item_reached()
/* for vtol back transition calculate acceptance radius based on time and ground speed */
if (_mission_item.vtol_back_transition) {
float groundspeed = sqrtf(_navigator->get_global_position()->vel_n * _navigator->get_global_position()->vel_n +
_navigator->get_global_position()->vel_e * _navigator->get_global_position()->vel_e);
float velocity = sqrtf(_navigator->get_local_position()->vx * _navigator->get_local_position()->vx +
_navigator->get_local_position()->vy * _navigator->get_local_position()->vy);
if (_param_back_trans_dur.get() > FLT_EPSILON && groundspeed > FLT_EPSILON
&& groundspeed * _param_back_trans_dur.get() > mission_acceptance_radius) {
mission_acceptance_radius = groundspeed * _param_back_trans_dur.get();
if (_param_back_trans_dec_mss.get() > FLT_EPSILON && velocity > FLT_EPSILON) {
mission_acceptance_radius = (velocity / _param_back_trans_dec_mss.get() / 2) * velocity;
}
}

2
src/modules/navigator/mission_block.h
View File

@ -148,7 +148,7 @@ protected:
control::BlockParamInt _param_vtol_wv_takeoff;
control::BlockParamInt _param_vtol_wv_loiter;
control::BlockParamInt _param_force_vtol;
control::BlockParamFloat _param_back_trans_dur;
control::BlockParamFloat _param_back_trans_dec_mss;
};
#endif

14
src/modules/vtol_att_control/vtol_att_control_params.c
View File

@ -220,6 +220,20 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f);
*/
PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 4.0f);
/**
* Deceleration during back transition
*
* The deceleration during a back transition in m/s/s
*
* @unit m/s/s
* @min 0.00
* @max 20.00
* @increment 1
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_DEC_MSS, 2.0f);
/**
* Output on reverse channel during back transition
*