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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 12:48:44 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 12:48:44 +0100 |
| commit | 3c6f01bea8a65e2c347d1b893b3fe0d152bff69c (patch) | |
| tree | 8b1f9b2e33a5732586f8e45834386eec6ff28017 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 85a76a32c5be43e8f1a4d82041e1b860dc21e217 (diff) | |
| download | px4-firmware-3c6f01bea8a65e2c347d1b893b3fe0d152bff69c.tar.gz px4-firmware-3c6f01bea8a65e2c347d1b893b3fe0d152bff69c.tar.bz2 px4-firmware-3c6f01bea8a65e2c347d1b893b3fe0d152bff69c.zip | |
tecs: speedrate: use p loop instead of pre calculated speed rate for now
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 2b1c01c83..8b78bfbc4 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -217,6 +217,7 @@ private: float loiter_hold_radius; float heightrate_p; + float speedrate_p; float land_slope_angle; float land_slope_length; @@ -260,6 +261,7 @@ private: param_t loiter_hold_radius; param_t heightrate_p; + param_t speedrate_p; param_t land_slope_angle; param_t land_slope_length; @@ -431,6 +433,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.speed_weight = param_find("FW_T_SPDWEIGHT"); _parameter_handles.pitch_damping = param_find("FW_T_PTCH_DAMP"); _parameter_handles.heightrate_p = param_find("FW_T_HRATE_P"); + _parameter_handles.speedrate_p = param_find("FW_T_SRATE_P"); /* fetch initial parameter values */ parameters_update(); @@ -497,6 +500,7 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate)); param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p)); + param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p)); param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle)); param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length)); @@ -523,6 +527,7 @@ FixedwingPositionControl::parameters_update() _tecs.set_indicated_airspeed_max(_parameters.airspeed_max); _tecs.set_max_climb_rate(_parameters.max_climb_rate); _tecs.set_heightrate_p(_parameters.heightrate_p); + _tecs.set_speedrate_p(_parameters.speedrate_p); /* sanity check parameters */ if (_parameters.airspeed_max < _parameters.airspeed_min || |