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Save shear params

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This commit is contained in:
JaeyoungLim
2023-11-15 10:26:31 +01:00
parent 1b39d5795a
commit eb7167fd11
2 changed files with 10 additions and 6 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+4
View File
@@ -433,6 +433,10 @@ FixedwingPositionINDIControl::soaring_estimator_shear_poll()
_soaring_feasible = _soaring_estimator_shear.soaring_feasible;
// the initial speed of the target trajectory can safely be updated during soaring :)
_shear_aspd = _soaring_estimator_shear.aspd;
_param_shear_estimated_v_max.set(_shear_v_max);
_param_shear_estimated_alpha.set(_shear_alpha);
_param_shear_estimated_h_ref.set(_shear_h_ref);
_param_shear_estimated_heading.set(_shear_heading);
}
}
src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
+6 -6
View File
@@ -230,11 +230,11 @@ private:
(ParamInt<px4::params::DS_SWITCH_CLOOP>) _param_switch_cloop,
// manual switch if we are in SITL mode
(ParamInt<px4::params::DS_SWITCH_SITL>) _param_switch_sitl,
(ParamInt<px4::params::DS_SWITCH_SITL>) _shear_estimated_v_max,
(ParamInt<px4::params::DS_WINDEST_HEIGHT>) _shear_estimated_alpha,
(ParamInt<px4::params::DS_WINDEST_HDG>) _shear_estimated_h_ref,
(ParamInt<px4::params::DS_WINDEST_ALPHA>) _shear_estimated_heading,
(ParamInt<px4::params::DS_WINDEST_VMAX>) _shear_estimated_aspd
(ParamInt<px4::params::DS_SWITCH_SITL>) _param_shear_estimated_v_max,
(ParamInt<px4::params::DS_WINDEST_HEIGHT>) _param_shear_estimated_alpha,
(ParamInt<px4::params::DS_WINDEST_HDG>) _param_shear_estimated_h_ref,
(ParamInt<px4::params::DS_WINDEST_ALPHA>) _param_shear_estimated_heading,
(ParamInt<px4::params::DS_WINDEST_VMAX>) _param_shear_estimated_aspd
)
@@ -449,4 +449,4 @@ private:
#endif // FIXEDWINGPOSITIONINDICONTROL_HPP_
#endif // FIXEDWINGPOSITIONINDICONTROL_HPP_