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fixed-wing: explicitly define landing airspeed

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landing airspeed was previously defined by a scale factor multiplied by minimum airspeed. this commit changes this parameter to an explicit speed, and when unspecified, defaults to the minimum airspeed
This commit is contained in:
Thomas Stastny
2022-11-09 13:31:05 +01:00
committed by Daniel Agar
parent 9bdf09a300
commit 263a1884b1
10 changed files with 13 additions and 20 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
-1
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@@ -8,7 +8,6 @@
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_L1_PERIOD 12
ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal
-1
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@@ -5,7 +5,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric
-1
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@@ -5,7 +5,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod
-1
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@@ -8,7 +8,6 @@
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_L1_PERIOD 15
ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo
-1
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@@ -5,7 +5,6 @@
. ${R}etc/init.d/rc.fw_defaults
param set-default FW_LND_AIRSPD_SC 1.1
param set-default FW_LND_ANG 5
param set-default FW_LND_FL_PMIN 9.5
param set-default FW_LND_FL_PMAX 20
ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
-1
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@@ -8,7 +8,6 @@
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_L1_PERIOD 12
ROMFS/px4fmu_common/init.d-posix/airframes/1039_advanced_plane
-1
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@@ -8,7 +8,6 @@
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_AIRSPD_SC 1
param set-default FW_LND_ANG 8
param set-default FW_THR_LND_MAX 0
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -2
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@@ -1328,7 +1328,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
// landing airspeed and potentially tighter altitude control) already such that we don't
// have to do this switch (which can cause significant altitude errors) close to the ground.
_tecs.set_height_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get());
airspeed_sp = _param_fw_lnd_airspd_sc.get() * _param_fw_airspd_min.get();
airspeed_sp = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() : _param_fw_airspd_min.get();
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_LAND;
@@ -1655,7 +1655,8 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
local_land_point = calculateTouchdownPosition(control_interval, local_land_point);
const Vector2f landing_approach_vector = calculateLandingApproachVector();
const float airspeed_land = _param_fw_lnd_airspd_sc.get() * _param_fw_airspd_min.get();
const float airspeed_land = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() :
_param_fw_airspd_min.get();
float adjusted_min_airspeed = _param_fw_airspd_min.get();
if (airspeed_land < _param_fw_airspd_min.get()) {
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+1 -1
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@@ -803,7 +803,7 @@ private:
(ParamFloat<px4::params::NPFG_SW_DST_MLT>) _param_npfg_switch_distance_multiplier,
(ParamFloat<px4::params::NPFG_PERIOD_SF>) _param_npfg_period_safety_factor,
(ParamFloat<px4::params::FW_LND_AIRSPD_SC>) _param_fw_lnd_airspd_sc,
(ParamFloat<px4::params::FW_LND_AIRSPD>) _param_fw_lnd_airspd,
(ParamFloat<px4::params::FW_LND_ANG>) _param_fw_lnd_ang,
(ParamFloat<px4::params::FW_LND_FL_PMAX>) _param_fw_lnd_fl_pmax,
(ParamFloat<px4::params::FW_LND_FL_PMIN>) _param_fw_lnd_fl_pmin,
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+9 -10
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@@ -477,20 +477,19 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
/**
* Min. airspeed scaling factor for landing
* Landing airspeed
*
* Multiplying this factor with the minimum airspeed of the plane
* gives the target airspeed the landing approach.
* FW_AIRSPD_MIN * FW_LND_AIRSPD_SC
* The calibrated airspeed setpoint during landing.
*
* @unit norm
* @min 1.0
* @max 1.5
* @decimal 2
* @increment 0.01
* If set <= 0.0, landing airspeed = FW_AIRSPD_MIN by default.
*
* @unit m/s
* @min -1.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_AIRSPD_SC, 1.3f);
PARAM_DEFINE_FLOAT(FW_LND_AIRSPD, -1.f);
/**
* Altitude time constant factor for landing