Thomas Stastny
28fe15d829
FixedwingPositionControl: initialize the airspeed slew rate controller with trim airspeed in the constructor
2023-09-13 16:18:16 -04:00
Thomas Stastny
4ec4ce5fa9
FixedwingPositionControl: rework airspeed slew controller handling
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- force initialize takeoff airspeed setpoint at start of takeoff modes
- force set airspeed constraints if slewed value is out of bounds
- always slew airspeed setpoints as long as inside constraints
- move target airspeed setpoint calculation into mode specific logic regions (hand vs runway)
2023-09-13 09:50:41 +02:00
Silvan Fuhrer
f1b47b14b8
FW Pos Control: add in_takeoff_situation argument to adapt_airspeed_setpoint()
...
when we're in a takeoff situation, we only want to adapt the airspeed to
avoid accelerated stall due to load factor changes. Disable othre logic
like minimum ground speed, wind based adaption and airspeed slew rating.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-09-13 09:50:41 +02:00
Thomas Stastny
def4ce6ba8
FixedwingPositionControl: slightly simplify manual position control (use navigateLine() to be sure no turnaround)
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make notes on odd things that are likely still wrong
2023-09-08 16:08:38 +02:00
Thomas Stastny
e71804d976
FixedwingPositionControl: reuse line() and waypoint() methods in navigateWaypoints() method
2023-09-08 16:08:38 +02:00
Thomas Stastny
ad9e3d72d9
FixedwingPositionControl: split out single waypoint following method
...
makes more clearly defined interfaces and behaviors. also cleaned up the controlAutoPosition() method
2023-09-08 16:08:38 +02:00
Thomas Stastny
c3012a551f
FixedwingPositionControl: track single point when no prev point exists for waypoint following
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make sure correct local position setpoint output is logged
2023-09-08 16:08:38 +02:00
Thomas Stastny
3047cad05d
FixedwingPositionControl: follow (infinite) lines instead of waypoints during takeoff and landing
2023-09-08 16:08:38 +02:00
Thomas Stastny
3ffb57bcce
FixedwingPositionControl: handle degenerate tangent setpoint in navigatePathTangent()
2023-09-08 16:08:38 +02:00
Thomas Stastny
b11ff06798
FixedwingPositionControl: fix / clarify navigate waypoint logic
2023-09-08 16:08:38 +02:00
Silvan Fuhrer
bd182ecf70
FWPositionControl: navigateWaypoints: fix logic if already past waypoint and need to turn back ( #21635 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-26 15:12:42 +02:00
Silvan Fuhrer
951f89c8a8
FWPosControl: constrain min pitch to FW_TKO_PITCH_MIN in takeoff state
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-10 14:23:12 +02:00
Silvan Fuhrer
da519573d4
FWPositionControl: trim throttle calc: guard against min/max=trim airspeed ( #21469 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-14 11:55:23 +02:00
Thomas Stastny
82fd2987c9
fw pos control: revert name until we delineate this module a bit more ( #21442 )
2023-04-13 17:00:04 +02:00
