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[nav] change ground speed limit to airspeed in bungee takeoff

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groundspeed may never to reached with strong wing
This commit is contained in:
Gautier Hattenberger
2015-01-27 18:20:43 +01:00
parent be0e08bfc2
commit b550be3fe1
3 changed files with 41 additions and 28 deletions
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conf/modules/nav_bungee_takeoff.xml
+2 -2
View File
@@ -8,11 +8,11 @@
Run initialize function when the plane is on the bungee, the bungee is fully extended and you are ready to launch the plane.
After initialized, the plane will follow a line drawn by the position of the plane on initialization and the position of the bungee (given in the arguments).
Once the plane crosses the throttle line, which is perpendicular to the line the plane is following, and intersects the position of the bungee (plus or minus a fixed distance (BUNGEE_TAKEOFF_DISTANCE in airframe file) from the bungee just in case the bungee doesn't release exactly above the bungee) the prop will come on.
The plane will then continue to follow the line until it has reached a specific height (defined in as BUNGEE_TAKEOFF_HEIGHT in airframe file) above the bungee waypoint and speed (defined as BUNGEE_TAKEOFF_SPEED in the airframe file). It is also possible to specify the pitch angle (BUNGEE_TAKEOFF_PITCH) and the throttle (BUNGEE_TAKEOFF_THROTTLE, between 0 and 1).
The plane will then continue to follow the line until it has reached a specific height (defined in as BUNGEE_TAKEOFF_HEIGHT in airframe file) above the bungee waypoint and airspeed (defined as BUNGEE_TAKEOFF_AIRSPEED in the airframe file). The airspeed limit is only used if USE_AIRSPEED flag is defined or set to true (and assuming the airspeed is then available). It is also possible to specify the pitch angle (BUNGEE_TAKEOFF_PITCH) and the throttle (BUNGEE_TAKEOFF_THROTTLE, between 0 and 1).
</description>
<section name="BUNGEE" prefix="BUNGEE_TAKEOFF_">
<define name="HEIGHT" value="distance" unit="m" description="Takeoff height"/>
<define name="SPEED" value="speed" unit="m/s" description="Procedures ends above this speed (and above HEIGHT)"/>
<define name="AIRSPEED" value="airspeed" unit="m/s" description="Procedures ends above this airspeed (and above HEIGHT). Only works with valid airspeed data and USE_AIRSPEED flag"/>
<define name="DISTANCE" value="distance" unit="m" description="After this distance, the throttle is activated (if above MIN_SPEED)"/>
<define name="MIN_SPEED" value="speed" unit="m/s" description="Throttle is activated if crossing the line above this speed"/>
<define name="PITCH" value="angle" unit="deg" description="Pitch angle during the complete takeoff phase"/>
sw/airborne/modules/nav/nav_bungee_takeoff.c
+35 -23
View File
@@ -35,15 +35,16 @@
* the prop will come on.
* The plane will then continue to follow the line until it has reached a
* specific height (defined in as BUNGEE_TAKEOFF_HEIGHT in airframe file) above
* the bungee waypoint and speed (defined as BUNGEE_TAKEOFF_SPEED in the
* airframe file).
* the bungee waypoint and airspeed (defined as BUNGEE_TAKEOFF_AIRSPEED in the
* airframe file). The airspeed limit is only used if USE_AIRSPEED flag is
* defined or set to true (and assuming the airspeed is then available).
* It is also possible to specify the pitch angle (BUNGEE_TAKEOFF_PITCH) and
* the throttle (BUNGEE_TAKEOFF_THROTTLE, between 0 and 1).
*
* @verbatim
* <section name="BUNGEE" prefix="BUNGEE_TAKEOFF_">
* <define name="HEIGHT" value="30" unit="m"/>
* <define name="SPEED" value="15" unit="m/s"/>
* <define name="AIRSPEED" value="15" unit="m/s"/>
* <define name="DISTANCE" value="10" unit="m"/>
* <define name="MIN_SPEED" value="5" unit="m/s"/>
* <define name="PITCH" value="15." unit="deg"/>
@@ -67,14 +68,39 @@
#include "math/pprz_algebra_float.h"
// Backward compatibility
#ifdef Takeoff_Distance
#warning "Takeoff_Distance depreciated, please use BUNGEE_TAKEOFF_DISTANCE instead"
#define BUNGEE_TAKEOFF_DISTANCE Takeoff_Distance
#endif
#ifdef Takeoff_Height
#warning "Takeoff_Height depreciated, please use BUNGEE_TAKEOFF_HEIGHT instead"
#define BUNGEE_TAKEOFF_HEIGHT Takeoff_Height
#endif
#ifdef Takeoff_Speed
#warning "Takeoff_Speed depreciated, please use BUNGEE_TAKEOFF_AIRSPEED instead (beware that USE_AIRSPEED flag is needed)"
#define BUNGEE_TAKEOFF_AIRSPEED Takeoff_Speed
#endif
#ifdef Takeoff_MinSpeed
#warning "Takeoff_MinSpeed depreciated, please use BUNGEE_TAKEOFF_MIN_SPEED instead"
#define BUNGEE_TAKEOFF_MIN_SPEED Takeoff_MinSpeed
#endif
#ifndef BUNGEE_TAKEOFF_DISTANCE
#define BUNGEE_TAKEOFF_DISTANCE 10.0
#endif
#ifndef BUNGEE_TAKEOFF_HEIGHT
#define BUNGEE_TAKEOFF_HEIGHT 30.0
#endif
#ifndef BUNGEE_TAKEOFF_SPEED
#define BUNGEE_TAKEOFF_SPEED 15.0
#if USE_AIRSPEED
#ifndef BUNGEE_TAKEOFF_AIRSPEED
#define BUNGEE_TAKEOFF_AIRSPEED 15.0
#endif
#else
#ifdef BUNGEE_TAKEOFF_AIRSPEED
#warning "BUNGEE_TAKEOFF_AIRSPEED is defined but not USE_AIRSPEED. Airspeed limit will not be used"
#endif
#endif
#ifndef BUNGEE_TAKEOFF_MIN_SPEED
#define BUNGEE_TAKEOFF_MIN_SPEED 5.0
@@ -90,23 +116,6 @@
#endif
#endif
#ifdef Takeoff_Distance
#warning "Takeoff_Distance depreciated, please use BUNGEE_TAKEOFF_DISTANCE instead"
#define BUNGEE_TAKEOFF_DISTANCE Takeoff_Distance
#endif
#ifdef Takeoff_Height
#warning "Takeoff_Height depreciated, please use BUNGEE_TAKEOFF_HEIGHT instead"
#define BUNGEE_TAKEOFF_HEIGHT Takeoff_Height
#endif
#ifdef Takeoff_Speed
#warning "Takeoff_Speed depreciated, please use BUNGEE_TAKEOFF_SPEED instead"
#define BUNGEE_TAKEOFF_SPEED Takeoff_Speed
#endif
#ifdef Takeoff_MinSpeed
#warning "Takeoff_MinSpeed depreciated, please use BUNGEE_TAKEOFF_MIN_SPEED instead"
#define BUNGEE_TAKEOFF_MIN_SPEED Takeoff_MinSpeed
#endif
enum TakeoffStatus {
Launch,
Throttle,
@@ -194,7 +203,10 @@ bool_t nav_bungee_takeoff_run(void)
kill_throttle = 0;
if ((stateGetPositionUtm_f()->alt > bungee_point.z + BUNGEE_TAKEOFF_HEIGHT)
&& ((*stateGetHorizontalSpeedNorm_f()) > BUNGEE_TAKEOFF_SPEED)) {
#if USE_AIRSPEED
&& ((*stateGetAirspeed_f()) > BUNGEE_TAKEOFF_AIRSPEED)
#endif
) {
CTakeoffStatus = Finished;
return FALSE;
} else {
sw/airborne/modules/nav/nav_bungee_takeoff.h
+4 -3
View File
@@ -35,15 +35,16 @@
* the prop will come on.
* The plane will then continue to follow the line until it has reached a
* specific height (defined in as BUNGEE_TAKEOFF_HEIGHT in airframe file) above
* the bungee waypoint and speed (defined as BUNGEE_TAKEOFF_SPEED in the
* airframe file).
* the bungee waypoint and airspeed (defined as BUNGEE_TAKEOFF_AIRSPEED in the
* airframe file). The airspeed limit is only used if USE_AIRSPEED flag is
* defined or set to true (and assuming the airspeed is then available).
* It is also possible to specify the pitch angle (BUNGEE_TAKEOFF_PITCH) and
* the throttle (BUNGEE_TAKEOFF_THROTTLE, between 0 and 1).
*
* @verbatim
* <section name="BUNGEE" prefix="BUNGEE_TAKEOFF_">
* <define name="HEIGHT" value="30" unit="m"/>
* <define name="SPEED" value="15" unit="m/s"/>
* <define name="AIRSPEED" value="15" unit="m/s"/>
* <define name="DISTANCE" value="10" unit="m"/>
* <define name="MIN_SPEED" value="5" unit="m/s"/>
* <define name="PITCH" value="15." unit="deg"/>