diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-07 15:25:54 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-07 15:25:54 +0200 |
| commit | 3d6fcfcf6b329a49f892f1b85c4d007acb2248e8 (patch) | |
| tree | 3a1228252704871c482312338048c491475a644e /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 74601939a82174fcb6ef2d681e1f32b14a0a4ba0 (diff) | |
| parent | 819c43fee6f428cf95b80175bdfb1911f282968d (diff) | |
| download | px4-firmware-3d6fcfcf6b329a49f892f1b85c4d007acb2248e8.tar.gz px4-firmware-3d6fcfcf6b329a49f892f1b85c4d007acb2248e8.tar.bz2 px4-firmware-3d6fcfcf6b329a49f892f1b85c4d007acb2248e8.zip | |
Merge remote-tracking branch 'private_swissfang/master' into obcfailsafe
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 ee08f3e98..79992bf45 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 @@ -213,6 +213,7 @@ private: float max_climb_rate; float climbout_diff; float heightrate_p; + float heightrate_ff; float speedrate_p; float throttle_damp; float integrator_gain; @@ -258,6 +259,7 @@ private: param_t max_climb_rate; param_t climbout_diff; param_t heightrate_p; + param_t heightrate_ff; param_t speedrate_p; param_t throttle_damp; param_t integrator_gain; @@ -503,6 +505,7 @@ 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.heightrate_ff = param_find("FW_T_HRATE_FF"); _parameter_handles.speedrate_p = param_find("FW_T_SRATE_P"); /* fetch initial parameter values */ @@ -572,6 +575,7 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.climbout_diff, &(_parameters.climbout_diff)); param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p)); + param_get(_parameter_handles.heightrate_ff, &(_parameters.heightrate_ff)); param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p)); param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle)); @@ -609,6 +613,7 @@ 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_heightrate_ff(_parameters.heightrate_ff); _tecs.set_speedrate_p(_parameters.speedrate_p); /* sanity check parameters */ |