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mpc: add parameter for ascent/descent speed in auto modes

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bresch
2021-12-17 15:17:46 +01:00
committed by Mathieu Bresciani
parent 463513f31f
commit ea7d2334c9
11 changed files with 97 additions and 36 deletions
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src/modules/navigator/rtl.cpp
+4 -4
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@@ -57,8 +57,8 @@ RTL::RTL(Navigator *navigator) :
MissionBlock(navigator),
ModuleParams(navigator)
{
_param_mpc_z_vel_max_up = param_find("MPC_Z_VEL_MAX_UP");
_param_mpc_z_vel_max_down = param_find("MPC_Z_VEL_MAX_DN");
_param_mpc_z_v_auto_up = param_find("MPC_Z_V_AUTO_UP");
_param_mpc_z_v_auto_dn = param_find("MPC_Z_V_AUTO_DN");
_param_mpc_land_speed = param_find("MPC_LAND_SPEED");
_param_fw_climb_rate = param_find("FW_T_CLMB_R_SP");
_param_fw_sink_rate = param_find("FW_T_SINK_R_SP");
@@ -886,7 +886,7 @@ float RTL::getClimbRate()
float ret = 1e6f;
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (_param_mpc_z_vel_max_up == PARAM_INVALID || param_get(_param_mpc_z_vel_max_up, &ret) != PX4_OK) {
if (_param_mpc_z_v_auto_up == PARAM_INVALID || param_get(_param_mpc_z_v_auto_up, &ret) != PX4_OK) {
ret = 1e6f;
}
@@ -905,7 +905,7 @@ float RTL::getDescendRate()
float ret = 1e6f;
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (_param_mpc_z_vel_max_down == PARAM_INVALID || param_get(_param_mpc_z_vel_max_down, &ret) != PX4_OK) {
if (_param_mpc_z_v_auto_dn == PARAM_INVALID || param_get(_param_mpc_z_v_auto_dn, &ret) != PX4_OK) {
ret = 1e6f;
}