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FW Position controller: transform RWTO_PSP to rad when used (#24312)

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-02-11 12:12:11 +01:00
committed by GitHub
parent 2b75d2e738
commit 136f9f48fc
1 changed files with 8 additions and 4 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
+8 -4
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@@ -1858,8 +1858,10 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now,
POST_TOUCHDOWN_CLAMP_TIME, 0.0f,
1.0f);
pitch_max_rad = touchdown_interpolator * _param_rwto_psp.get() + (1.0f - touchdown_interpolator) * pitch_max_rad;
pitch_min_rad = touchdown_interpolator * _param_rwto_psp.get() + (1.0f - touchdown_interpolator) * pitch_min_rad;
pitch_max_rad = touchdown_interpolator * math::radians(_param_rwto_psp.get()) + (1.0f - touchdown_interpolator) *
pitch_max_rad;
pitch_min_rad = touchdown_interpolator * math::radians(_param_rwto_psp.get()) + (1.0f - touchdown_interpolator) *
pitch_min_rad;
}
// idle throttle may be >0 for internal combustion engines
@@ -2078,8 +2080,10 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now,
const float touchdown_interpolator = math::constrain((seconds_since_flare_start - touchdown_time) /
POST_TOUCHDOWN_CLAMP_TIME, 0.0f, 1.0f);
pitch_max_rad = touchdown_interpolator * _param_rwto_psp.get() + (1.0f - touchdown_interpolator) * pitch_max_rad;
pitch_min_rad = touchdown_interpolator * _param_rwto_psp.get() + (1.0f - touchdown_interpolator) * pitch_min_rad;
pitch_max_rad = touchdown_interpolator * math::radians(_param_rwto_psp.get()) + (1.0f - touchdown_interpolator) *
pitch_max_rad;
pitch_min_rad = touchdown_interpolator * math::radians(_param_rwto_psp.get()) + (1.0f - touchdown_interpolator) *
pitch_min_rad;
}
// idle throttle may be >0 for internal combustion engines