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Fixed wing: support do change speed

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Lorenz Meier
2016-01-22 13:31:02 +01:00
parent 697096511c
commit 7871ab0fae
1 changed files with 9 additions and 3 deletions
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12
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@@ -1293,6 +1293,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} }
float mission_airspeed = _parameters.airspeed_trim;
if (PX4_ISFINITE(_pos_sp_triplet.current.cruising_speed) &&
_pos_sp_triplet.current.cruising_speed > 0.1f) {
mission_airspeed = _pos_sp_triplet.current.cruising_speed;
}
if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) { if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_att_sp.thrust = 0.0f; _att_sp.thrust = 0.0f;
_att_sp.roll_body = 0.0f; _att_sp.roll_body = 0.0f;
@@ -1304,7 +1310,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.roll_body = _l1_control.nav_roll(); _att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing(); _att_sp.yaw_body = _l1_control.nav_bearing();
tecs_update_pitch_throttle(pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, tecs_update_pitch_throttle(pos_sp_triplet.current.alt, calculate_target_airspeed(mission_airspeed), eas2tas,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed); false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
@@ -1337,7 +1343,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::radians(15.0f)); math::radians(15.0f));
} }
tecs_update_pitch_throttle(alt_sp, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, tecs_update_pitch_throttle(alt_sp, calculate_target_airspeed(mission_airspeed), eas2tas,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed); false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
@@ -1718,7 +1724,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} else { } else {
tecs_update_pitch_throttle(pos_sp_triplet.current.alt, tecs_update_pitch_throttle(pos_sp_triplet.current.alt,
calculate_target_airspeed(_parameters.airspeed_trim), calculate_target_airspeed(mission_airspeed),
eas2tas, eas2tas,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max), math::radians(_parameters.pitch_limit_max),