fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-21 14:47:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

initial wip version of launchdetector

Browse Source
This commit is contained in:
Thomas Gubler
2013-11-15 22:43:07 +01:00
parent 2116966b1e
commit ebbe4d2235
10 changed files with 529 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+44 -17
View File
@@ -86,6 +86,7 @@
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <external_lgpl/tecs/tecs.h>
#include <launchdetection/LaunchDetector.h>
/**
* L1 control app start / stop handling function
@@ -164,6 +165,9 @@ private:
/* heading hold */
float target_bearing;
/* Launch detection */
LaunchDetector launchDetector;
/* throttle and airspeed states */
float _airspeed_error; ///< airspeed error to setpoint in m/s
bool _airspeed_valid; ///< flag if a valid airspeed estimate exists
@@ -338,7 +342,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
_airspeed_valid(false),
_groundspeed_undershoot(0.0f),
_global_pos_valid(false),
land_noreturn(false)
land_noreturn(false),
launchDetector()
{
_nav_capabilities.turn_distance = 0.0f;
@@ -464,6 +469,8 @@ FixedwingPositionControl::parameters_update()
return 1;
}
launchDetector.updateParams();
return OK;
}
@@ -818,30 +825,50 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
} else if (global_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
/* Perform launch detection */
bool do_fly_takeoff = false;
warnx("Launch detection running");
if (launchDetector.launchDetectionEnabled()) {
launchDetector.update(_accel.x);
if (launchDetector.getLaunchDetected()) {
do_fly_takeoff = true;
warnx("Launch detected. Taking off!");
}
} else {
/* no takeoff detection --> fly */
do_fly_takeoff = true;
}
_l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed);
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
if (altitude_error > 10.0f) {
if (do_fly_takeoff) {
/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min),
_airspeed.indicated_airspeed_m_s, eas2tas,
true, math::max(math::radians(global_triplet.current.param1), math::radians(10.0f)),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
if (altitude_error > 10.0f) {
/* limit roll motion to ensure enough lift */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min),
_airspeed.indicated_airspeed_m_s, eas2tas,
true, math::max(math::radians(global_triplet.current.param1), math::radians(10.0f)),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
/* limit roll motion to ensure enough lift */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
} else {
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
_airspeed.indicated_airspeed_m_s, eas2tas,
false, math::radians(_parameters.pitch_limit_min),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
}
} else {
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
_airspeed.indicated_airspeed_m_s, eas2tas,
false, math::radians(_parameters.pitch_limit_min),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
throttle_max = 0.0f;
}
}