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tecs msg: changed flight_path_angle to height rate as clearly we are

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looking at height rates

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-09-17 16:03:26 +02:00
committed by Daniel Agar
parent dd63a634b2
commit e17f0802cc
3 changed files with 6 additions and 6 deletions
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msg/tecs_status.msg
+2 -2
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@@ -10,8 +10,8 @@ uint8 TECS_MODE_CLIMBOUT = 6
float32 altitude_sp float32 altitude_sp
float32 altitude_filtered float32 altitude_filtered
float32 flight_path_angle_sp float32 height_rate_setpoint
float32 flight_path_angle float32 height_rate
float32 airspeed_sp float32 airspeed_sp
float32 airspeed_filtered float32 airspeed_filtered
float32 airspeed_derivative_sp float32 airspeed_derivative_sp
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -2
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@@ -568,8 +568,8 @@ FixedwingPositionControl::tecs_status_publish()
t.airspeed_sp = _tecs.TAS_setpoint_adj(); t.airspeed_sp = _tecs.TAS_setpoint_adj();
t.airspeed_filtered = _tecs.tas_state(); t.airspeed_filtered = _tecs.tas_state();
t.flight_path_angle_sp = _tecs.hgt_rate_setpoint(); t.height_rate_setpoint = _tecs.hgt_rate_setpoint();
t.flight_path_angle = _tecs.vert_vel_state(); t.height_rate = _tecs.vert_vel_state();
t.airspeed_derivative_sp = _tecs.TAS_rate_setpoint(); t.airspeed_derivative_sp = _tecs.TAS_rate_setpoint();
t.airspeed_derivative = _tecs.speed_derivative(); t.airspeed_derivative = _tecs.speed_derivative();
src/modules/vtol_att_control/vtol_type.cpp
+2 -2
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@@ -210,8 +210,8 @@ void VtolType::check_quadchute_condition()
// We use tecs for tracking in FW and local_pos_sp during transitions // We use tecs for tracking in FW and local_pos_sp during transitions
if (_tecs_running) { if (_tecs_running) {
// 1 second rolling average // 1 second rolling average
_ra_hrate = (49 * _ra_hrate + _tecs_status->flight_path_angle) / 50; _ra_hrate = (49 * _ra_hrate + _tecs_status->height_rate) / 50;
_ra_hrate_sp = (49 * _ra_hrate_sp + _tecs_status->flight_path_angle_sp) / 50; _ra_hrate_sp = (49 * _ra_hrate_sp + _tecs_status->height_rate_setpoint) / 50;
// are we dropping while requesting significant ascend? // are we dropping while requesting significant ascend?
if (((_tecs_status->altitude_sp - _tecs_status->altitude_filtered) > _params->fw_alt_err) && if (((_tecs_status->altitude_sp - _tecs_status->altitude_filtered) > _params->fw_alt_err) &&