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FW pos control: Set idle throttle on ground in all modes

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This commit is contained in:
Lorenz Meier
2016-02-17 19:31:01 +01:00
parent d5d3b63dc8
commit e98cd6c746
2 changed files with 24 additions and 7 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+10 -7
View File
@@ -105,7 +105,6 @@ static int _control_task = -1; /**< task handle for sensor task */
#define HDG_HOLD_SET_BACK_DIST 100.0f // distance by which previous waypoint is set behind the plane
#define HDG_HOLD_YAWRATE_THRESH 0.15f // max yawrate at which plane locks yaw for heading hold mode
#define HDG_HOLD_MAN_INPUT_THRESH 0.01f // max manual roll input from user which does not change the locked heading
#define TAKEOFF_IDLE 0.2f // idle speed for POSCTRL/ATTCTRL (when landed and throttle stick > 0)
#define T_ALT_TIMEOUT 1 // time after which we abort landing if terrain estimate is not valid
static constexpr float THROTTLE_THRESH =
@@ -280,6 +279,7 @@ private:
float roll_limit;
float throttle_min;
float throttle_max;
float throttle_idle;
float throttle_cruise;
float throttle_slew_max;
@@ -329,6 +329,7 @@ private:
param_t roll_limit;
param_t throttle_min;
param_t throttle_max;
param_t throttle_idle;
param_t throttle_cruise;
param_t throttle_slew_max;
@@ -582,6 +583,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.roll_limit = param_find("FW_R_LIM");
_parameter_handles.throttle_min = param_find("FW_THR_MIN");
_parameter_handles.throttle_max = param_find("FW_THR_MAX");
_parameter_handles.throttle_idle = param_find("FW_THR_IDLE");
_parameter_handles.throttle_slew_max = param_find("FW_THR_SLEW_MAX");
_parameter_handles.throttle_cruise = param_find("FW_THR_CRUISE");
_parameter_handles.throttle_land_max = param_find("FW_THR_LND_MAX");
@@ -660,6 +662,7 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.roll_limit, &(_parameters.roll_limit));
param_get(_parameter_handles.throttle_min, &(_parameters.throttle_min));
param_get(_parameter_handles.throttle_max, &(_parameters.throttle_max));
param_get(_parameter_handles.throttle_idle, &(_parameters.throttle_idle));
param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
param_get(_parameter_handles.throttle_slew_max, &(_parameters.throttle_slew_max));
@@ -1930,8 +1933,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS &&
!_runway_takeoff.runwayTakeoffEnabled()) {
/* making sure again that the correct thrust is used,
* without depending on library calls for safety reasons */
_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
* without depending on library calls for safety reasons.
the pre-takeoff throttle and the idle throttle normally map to the same parameter. */
_att_sp.thrust = (launchDetectionEnabled()) ? launchDetector.getThrottlePreTakeoff() : _parameters.throttle_idle;
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO &&
pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
@@ -1946,10 +1950,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} else {
/* Copy thrust and pitch values from tecs */
if (_vehicle_status.condition_landed &&
(_control_mode_current == FW_POSCTRL_MODE_POSITION || _control_mode_current == FW_POSCTRL_MODE_ALTITUDE)) {
// when we are landed in these modes we want the motor to spin
_att_sp.thrust = math::min(TAKEOFF_IDLE, throttle_max);
if (_vehicle_status.condition_landed) {
// when we are landed state we want the motor to spin at idle speed
_att_sp.thrust = math::min(_parameters.throttle_idle, throttle_max);
} else {
_att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() :
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+14
View File
@@ -155,6 +155,20 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
*/
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
/**
* Idle throttle
*
* This is the minimum throttle while on the ground
*
* For aircraft with internal combustion engine this parameter should be set
* above desired idle rpm.
*
* @min 0.0
* @max 0.4
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.15f);
/**
* Throttle limit value before flare
*