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land motor lim independent of flare

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This commit is contained in:
Thomas Gubler
2013-11-06 15:09:15 +01:00
parent 6f55ba9014
commit f2fdfd11b8
1 changed files with 8 additions and 4 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+8 -4
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@@ -163,6 +163,7 @@ private:
bool land_noreturn_horizontal; bool land_noreturn_horizontal;
bool land_noreturn_vertical; bool land_noreturn_vertical;
bool land_stayonground; bool land_stayonground;
bool land_motor_lim;
float flare_curve_alt_last; float flare_curve_alt_last;
/* heading hold */ /* heading hold */
float target_bearing; float target_bearing;
@@ -359,6 +360,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
land_noreturn_horizontal(false), land_noreturn_horizontal(false),
land_noreturn_vertical(false), land_noreturn_vertical(false),
land_stayonground(false), land_stayonground(false),
land_motor_lim(false),
flare_curve_alt_last(0.0f) flare_curve_alt_last(0.0f)
{ {
_nav_capabilities.turn_distance = 0.0f; _nav_capabilities.turn_distance = 0.0f;
@@ -815,7 +817,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
float landing_slope_angle_rad = math::radians(_parameters.land_slope_angle); float landing_slope_angle_rad = math::radians(_parameters.land_slope_angle);
float flare_relative_alt = 15.0f; float flare_relative_alt = 15.0f;
float motor_lim_relative_alt = 10.0f;//be generous here as we currently have to rely on the user input for the waypoint float motor_lim_horizontal_distance = 30.0f;//be generous here as we currently have to rely on the user input for the waypoint
float L_wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), curr_wp.getX(), curr_wp.getY()) * _parameters.land_slope_length; float L_wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), curr_wp.getX(), curr_wp.getY()) * _parameters.land_slope_length;
float H1 = 10.0f; float H1 = 10.0f;
float H0 = flare_relative_alt + H1; float H0 = flare_relative_alt + H1;
@@ -826,7 +828,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
float L_altitude = getLandingSlopeAbsoluteAltitude(L_wp_distance, _global_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); float L_altitude = getLandingSlopeAbsoluteAltitude(L_wp_distance, _global_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
float landing_slope_alt_desired = getLandingSlopeAbsoluteAltitude(wp_distance, _global_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); float landing_slope_alt_desired = getLandingSlopeAbsoluteAltitude(wp_distance, _global_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
if (((wp_distance < 2.0f * math::max(15.0f, flare_relative_alt)) && (_global_pos.alt < _global_triplet.current.altitude + flare_relative_alt)) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out if ( (_global_pos.alt < _global_triplet.current.altitude + flare_relative_alt) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
/* land with minimal speed */ /* land with minimal speed */
@@ -836,9 +838,10 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* kill the throttle if param requests it */ /* kill the throttle if param requests it */
throttle_max = _parameters.throttle_max; throttle_max = _parameters.throttle_max;
// if ((_global_pos.alt < _global_triplet.current.altitude + motor_lim_relative_alt)) { if (wp_distance < motor_lim_horizontal_distance || land_motor_lim) {
throttle_max = math::min(throttle_max, _parameters.throttle_land_max); throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
// } land_motor_lim = true;
}
float flare_curve_alt = _global_triplet.current.altitude + H0 * expf(-math::max(0.0f, flare_length - wp_distance)/flare_constant) - H1; float flare_curve_alt = _global_triplet.current.altitude + H0 * expf(-math::max(0.0f, flare_length - wp_distance)/flare_constant) - H1;
@@ -986,6 +989,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
land_noreturn_horizontal = false; land_noreturn_horizontal = false;
land_noreturn_vertical = false; land_noreturn_vertical = false;
land_stayonground = false; land_stayonground = false;
land_motor_lim = false;
} }
if (was_circle_mode && !_l1_control.circle_mode()) { if (was_circle_mode && !_l1_control.circle_mode()) {