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added airspeed scale parameter for takeoff and landing

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tumbili
2015-11-17 22:28:08 +01:00
committed by Roman
parent 42d03cb076
commit f3e0d91f24
2 changed files with 18 additions and 2 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+6 -2
View File
@@ -281,6 +281,7 @@ private:
float land_flare_pitch_min_deg;
float land_flare_pitch_max_deg;
int land_use_terrain_estimate;
float land_airspeed_scale;
} _parameters; /**< local copies of interesting parameters */
@@ -329,6 +330,7 @@ private:
param_t land_flare_pitch_min_deg;
param_t land_flare_pitch_max_deg;
param_t land_use_terrain_estimate;
param_t land_airspeed_scale;
} _parameter_handles; /**< handles for interesting parameters */
@@ -572,6 +574,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.land_flare_pitch_min_deg = param_find("FW_FLARE_PMIN");
_parameter_handles.land_flare_pitch_max_deg = param_find("FW_FLARE_PMAX");
_parameter_handles.land_use_terrain_estimate= param_find("FW_LND_USETER");
_parameter_handles.land_airspeed_scale = param_find("FW_AIRSPD_SCALE");
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
_parameter_handles.time_const_throt = param_find("FW_T_THRO_CONST");
@@ -675,6 +678,7 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.land_flare_pitch_min_deg, &(_parameters.land_flare_pitch_min_deg));
param_get(_parameter_handles.land_flare_pitch_max_deg, &(_parameters.land_flare_pitch_max_deg));
param_get(_parameter_handles.land_use_terrain_estimate, &(_parameters.land_use_terrain_estimate));
param_get(_parameter_handles.land_airspeed_scale, &(_parameters.land_airspeed_scale));
_l1_control.set_l1_damping(_parameters.l1_damping);
_l1_control.set_l1_period(_parameters.l1_period);
@@ -1263,8 +1267,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// XXX this could make a great param
float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
float airspeed_land = 1.3f * _parameters.airspeed_min;
float airspeed_approach = 1.3f * _parameters.airspeed_min;
float airspeed_land = _parameters.land_airspeed_scale * _parameters.airspeed_min;
float airspeed_approach = _parameters.land_airspeed_scale * _parameters.airspeed_min;
/* Get an estimate of the terrain altitude if available, otherwise terrain_alt will be
* equal to _pos_sp_triplet.current.alt */
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+12
View File
@@ -443,3 +443,15 @@ PARAM_DEFINE_FLOAT(FW_FLARE_PMIN, 2.5f);
*
*/
PARAM_DEFINE_FLOAT(FW_FLARE_PMAX, 15.0f);
/**
* Takeoff and landing airspeed scale factor
*
* Multiplying this factor with the minimum airspeed of the plane
* gives the target airspeed for takeoff and landing approach.
*
* @min 1.0
* @max 1.5
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_SCALE, 1.3f);