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replaced magic values with parameters, renamed internal representations

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This commit is contained in:
Andreas Antener
2015-11-17 22:28:08 +01:00
committed by Roman
parent 9c70eb0b63
commit f5f61e42af
3 changed files with 63 additions and 32 deletions
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src/lib/runway_takeoff/RunwayTakeoff.cpp
+22 -22
View File
@@ -58,14 +58,14 @@ RunwayTakeoff::RunwayTakeoff() :
_initialized_time(0),
_init_yaw(0),
_climbout(false),
_min_airspeed_scaling(1.3f),
_max_takeoff_roll(15.0f),
_runway_takeoff_enabled(this, "TKOFF"),
_runway_takeoff_heading(this, "HDG"),
_runway_takeoff_nav_alt(this, "NAV_ALT"),
_runway_takeoff_throttle(this, "MAX_THR"),
_runway_takeoff_pitch_sp(this, "PSP"),
_runway_takeoff_max_pitch(this, "MAX_PITCH"),
_heading_mode(this, "HDG"),
_nav_alt(this, "NAV_ALT"),
_takeoff_throttle(this, "MAX_THR"),
_runway_pitch_sp(this, "PSP"),
_max_takeoff_pitch(this, "MAX_PITCH"),
_max_takeoff_roll(this, "MAX_ROLL"),
_min_airspeed_scaling(this, "AIRSPD_SCL"),
_airspeed_min(this, "FW_AIRSPD_MIN", false),
_climbout_diff(this, "FW_CLMBOUT_DIFF", false)
{
@@ -99,7 +99,7 @@ void RunwayTakeoff::update(float airspeed, float alt_agl, int mavlink_fd)
break;
case RunwayTakeoffState::CLAMPED_TO_RUNWAY:
if (airspeed > _airspeed_min.get() * _min_airspeed_scaling) {
if (airspeed > _airspeed_min.get() * _min_airspeed_scaling.get()) {
_state = RunwayTakeoffState::TAKEOFF;
mavlink_log_info(mavlink_fd, "#Takeoff airspeed reached");
}
@@ -107,7 +107,7 @@ void RunwayTakeoff::update(float airspeed, float alt_agl, int mavlink_fd)
break;
case RunwayTakeoffState::TAKEOFF:
if (alt_agl > _runway_takeoff_nav_alt.get()) {
if (alt_agl > _nav_alt.get()) {
_state = RunwayTakeoffState::CLIMBOUT;
mavlink_log_info(mavlink_fd, "#Climbout");
}
@@ -137,7 +137,7 @@ bool RunwayTakeoff::controlYaw()
float RunwayTakeoff::getPitch(float tecsPitch)
{
if (_state <= RunwayTakeoffState::CLAMPED_TO_RUNWAY) {
return math::radians(_runway_takeoff_pitch_sp.get());
return math::radians(_runway_pitch_sp.get());
}
return tecsPitch;
@@ -152,14 +152,14 @@ float RunwayTakeoff::getRoll(float navigatorRoll)
// allow some roll during climbout if waypoint heading is targeted
else if (_state < RunwayTakeoffState::FLY) {
if (_runway_takeoff_heading.get() == 0) {
if (_heading_mode.get() == 0) {
// otherwise stay at 0 roll
return 0.0f;
} else if (_runway_takeoff_heading.get() == 1) {
} else if (_heading_mode.get() == 1) {
return math::constrain(navigatorRoll,
math::radians(-_max_takeoff_roll),
math::radians(_max_takeoff_roll));
math::radians(-_max_takeoff_roll.get()),
math::radians(_max_takeoff_roll).get());
}
}
@@ -169,11 +169,11 @@ float RunwayTakeoff::getRoll(float navigatorRoll)
float RunwayTakeoff::getYaw(float navigatorYaw)
{
if (_state < RunwayTakeoffState::FLY) {
if (_runway_takeoff_heading.get() == 0) {
if (_heading_mode.get() == 0) {
// fix heading in the direction the airframe points
return _init_yaw;
} else if (_runway_takeoff_heading.get() == 1) {
} else if (_heading_mode.get() == 1) {
// or head into the direction of the takeoff waypoint
// XXX this needs a check if the deviation from actual heading is too big (else we do a full throttle wheel turn on the ground)
return navigatorYaw;
@@ -188,14 +188,14 @@ float RunwayTakeoff::getThrottle(float tecsThrottle)
switch (_state) {
case RunwayTakeoffState::THROTTLE_RAMP: {
float throttle = hrt_elapsed_time(&_initialized_time) / (float)2000000 *
_runway_takeoff_throttle.get();
return throttle < _runway_takeoff_throttle.get() ?
_takeoff_throttle.get();
return throttle < _takeoff_throttle.get() ?
throttle :
_runway_takeoff_throttle.get();
_takeoff_throttle.get();
}
case RunwayTakeoffState::CLAMPED_TO_RUNWAY:
return _runway_takeoff_throttle.get();
return _takeoff_throttle.get();
default:
return tecsThrottle;
@@ -221,8 +221,8 @@ float RunwayTakeoff::getMinPitch(float sp_min, float climbout_min, float min)
float RunwayTakeoff::getMaxPitch(float max)
{
if (_climbout && _runway_takeoff_max_pitch.get() > 0.1f) {
return _runway_takeoff_max_pitch.get();
if (_climbout && _max_takeoff_pitch.get() > 0.1f) {
return _max_takeoff_pitch.get();
}
else {
src/lib/runway_takeoff/RunwayTakeoff.h
+8 -10
View File
@@ -83,7 +83,7 @@ public:
float getYaw(float navigatorYaw);
float getThrottle(float tecsThrottle);
bool resetIntegrators();
float getMinAirspeedScaling() { return _min_airspeed_scaling; };
float getMinAirspeedScaling() { return _min_airspeed_scaling.get(); };
float getMinPitch(float sp_min, float climbout_min, float min);
float getMaxPitch(float max);
@@ -98,17 +98,15 @@ private:
float _init_yaw;
bool _climbout;
/** magic values **/
float _min_airspeed_scaling;
float _max_takeoff_roll;
/** parameters **/
control::BlockParamInt _runway_takeoff_enabled;
control::BlockParamInt _runway_takeoff_heading;
control::BlockParamFloat _runway_takeoff_nav_alt;
control::BlockParamFloat _runway_takeoff_throttle;
control::BlockParamFloat _runway_takeoff_pitch_sp;
control::BlockParamFloat _runway_takeoff_max_pitch;
control::BlockParamInt _heading_mode;
control::BlockParamFloat _nav_alt;
control::BlockParamFloat _takeoff_throttle;
control::BlockParamFloat _runway_pitch_sp;
control::BlockParamFloat _max_takeoff_pitch;
control::BlockParamFloat _max_takeoff_roll;
control::BlockParamFloat _min_airspeed_scaling;
control::BlockParamFloat _airspeed_min;
control::BlockParamFloat _climbout_diff;
src/lib/runway_takeoff/runway_takeoff_params.c
+33
View File
@@ -109,3 +109,36 @@ PARAM_DEFINE_FLOAT(RWTO_PSP, 0.0);
* @group Runway Takeoff
*/
PARAM_DEFINE_FLOAT(RWTO_MAX_PITCH, 20.0);
/**
* Max pitch during takeoff.
* Fixed-wing settings are used if set to 0. Note that there is also a minimum
* pitch of 10 degrees during takeoff, so this must be larger if set.
*
* @min 0.0
* @max 60.0
* @group Runway Takeoff
*/
PARAM_DEFINE_FLOAT(RWTO_MAX_PITCH, 20.0);
/**
* Max roll during climbout.
* Roll is limited during climbout to ensure enough lift and prevents aggressive
* navigation before we're on a safe height.
*
* @min 0.0
* @max 60.0
* @group Runway Takeoff
*/
PARAM_DEFINE_FLOAT(RWTO_MAX_ROLL, 25.0);
/**
* Min. airspeed scaling factor for takeoff.
* Pitch up will be commanded when the following airspeed is reached:
* FW_AIRSPD_MIN * RWTO_AIRSPD_SCL
*
* @min 0.0
* @max 2.0
* @group Runway Takeoff
*/
PARAM_DEFINE_FLOAT(RWTO_AIRSPD_SCL, 1.3);