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Correctly name b_trans_thr and remove contraint

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sanderux
2017-08-16 01:36:17 +02:00
committed by Sander Smeets
parent ff669ee645
commit 6b9a8daceb
3 changed files with 10 additions and 14 deletions
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src/modules/vtol_att_control/standard.cpp
+7 -11
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@@ -75,7 +75,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
_params_handles_standard.airspeed_mode = param_find("FW_ARSP_MODE");
_params_handles_standard.pitch_setpoint_offset = param_find("FW_PSP_OFF");
_params_handles_standard.reverse_output = param_find("VT_B_REV_OUT");
_params_handles_standard.reverse_throttle = param_find("VT_B_REV_THR");
_params_handles_standard.back_trans_throttle = param_find("VT_B_TRANS_THR");
_params_handles_standard.mpc_xy_cruise = param_find("MPC_XY_CRUISE");
}
@@ -142,8 +142,8 @@ Standard::parameters_update()
_params_standard.reverse_output = math::constrain(v, 0.0f, 1.0f);
/* reverse throttle */
param_get(_params_handles_standard.reverse_throttle, &v);
_params_standard.reverse_throttle = math::constrain(v, -1.0f, 1.0f);
param_get(_params_handles_standard.back_trans_throttle, &v);
_params_standard.back_trans_throttle = math::constrain(v, -1.0f, 1.0f);
/* mpc cruise speed */
param_get(_params_handles_standard.mpc_xy_cruise, &_params_standard.mpc_xy_cruise);
@@ -347,15 +347,11 @@ void Standard::update_transition_state()
_v_att_sp->q_d_valid = true;
// Handle throttle reversal for active breaking
if (_params_handles_standard.reverse_throttle > FLT_EPSILON || _params_handles_standard.reverse_throttle < -0.01f) {
_pusher_throttle = _params_standard.reverse_throttle * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
if (_params_handles_standard.back_trans_throttle > FLT_EPSILON
|| _params_handles_standard.back_trans_throttle < -0.01f) {
_pusher_throttle = _params_standard.back_trans_throttle * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_standard.front_trans_dur * 1000000.0f);
_pusher_throttle = math::constrain(_pusher_throttle, -1.0f, _params_standard.reverse_throttle);
}
// prevent positive thrust without airbrakes channel activated
if (_pusher_throttle > FLT_EPSILON && _params_handles_standard.reverse_output < 0.01f) {
_pusher_throttle = 0.0f;
_pusher_throttle = math::constrain(_pusher_throttle, -1.0f, _params_standard.back_trans_throttle);
}
// continually increase mc attitude control as we transition back to mc mode
src/modules/vtol_att_control/standard.h
+2 -2
View File
@@ -80,7 +80,7 @@ private:
int airspeed_mode;
float pitch_setpoint_offset;
float reverse_output;
float reverse_throttle;
float back_trans_throttle;
float mpc_xy_cruise;
} _params_standard;
@@ -98,7 +98,7 @@ private:
param_t airspeed_mode;
param_t pitch_setpoint_offset;
param_t reverse_output;
param_t reverse_throttle;
param_t back_trans_throttle;
param_t mpc_xy_cruise;
} _params_handles_standard;
src/modules/vtol_att_control/standard_params.c
+1 -1
View File
@@ -109,4 +109,4 @@ PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f);
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_REV_THR, 0.0f);
PARAM_DEFINE_FLOAT(VT_B_TRANS_THR, 0.0f);