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fw_pos_control_l1: add takeoff minimum pitch parameter

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- remove mavlink mechanism for setting minimum pitch
This commit is contained in:
Daniel Agar
2018-04-04 18:47:24 -04:00
parent 89f19fd657
commit f61d8539cb
15 changed files with 39 additions and 42 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -3
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@@ -1222,7 +1222,7 @@ FixedwingPositionControl::control_takeoff(const hrt_abstime &now, const Vector2f
_param_fw_thr_max.get(), // XXX should we also set runway_takeoff_throttle here?
_param_fw_thr_cruise.get(),
_runway_takeoff.climbout(),
radians(_runway_takeoff.getMinPitch(pos_sp_curr.pitch_min, 10.0f, _param_fw_p_lim_min.get())),
radians(_runway_takeoff.getMinPitch(_takeoff_pitch_min.get(), _param_fw_p_lim_min.get())),
tecs_status_s::TECS_MODE_TAKEOFF);
// assign values
@@ -1293,7 +1293,7 @@ FixedwingPositionControl::control_takeoff(const hrt_abstime &now, const Vector2f
takeoff_throttle,
_param_fw_thr_cruise.get(),
true,
max(radians(pos_sp_curr.pitch_min), radians(10.0f)),
radians(_takeoff_pitch_min.get()),
tecs_status_s::TECS_MODE_TAKEOFF);
/* limit roll motion to ensure enough lift */
@@ -1320,7 +1320,7 @@ FixedwingPositionControl::control_takeoff(const hrt_abstime &now, const Vector2f
/* Set default roll and pitch setpoints during detection phase */
_att_sp.roll_body = 0.0f;
_att_sp.pitch_body = max(radians(pos_sp_curr.pitch_min), radians(10.0f));
_att_sp.pitch_body = radians(_takeoff_pitch_min.get());
}
}
}