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| author | Thomas Gubler <thomasgubler@student.ethz.ch> | 2013-10-31 18:02:26 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@student.ethz.ch> | 2013-10-31 18:02:26 +0100 |
| commit | 6fefa453810893d5a983e20e0d503f726e07d06b (patch) | |
| tree | 513ae1c713b26f39b7fa73d29d535ca9479ecc2a /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 18c5d901889e33167f0967f612fb7e57b3b4a018 (diff) | |
| parent | c275f785414121c567523db00def3f76349a218f (diff) | |
| download | px4-firmware-6fefa453810893d5a983e20e0d503f726e07d06b.tar.gz px4-firmware-6fefa453810893d5a983e20e0d503f726e07d06b.tar.bz2 px4-firmware-6fefa453810893d5a983e20e0d503f726e07d06b.zip | |
Merge branch 'fw_staging_ouputlimit_master_heightrate' into fw_autoland_att_tecs
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 | 8 |
1 files changed, 8 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 be6cc0e8c..490788206 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 @@ -206,6 +206,8 @@ private: float throttle_land_max; float loiter_hold_radius; + + float heightrate_p; } _parameters; /**< local copies of interesting parameters */ struct { @@ -240,6 +242,8 @@ private: param_t throttle_land_max; param_t loiter_hold_radius; + + param_t heightrate_p; } _parameter_handles; /**< handles for interesting parameters */ @@ -370,6 +374,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.roll_throttle_compensation = param_find("FW_T_RLL2THR"); _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"); /* fetch initial parameter values */ parameters_update(); @@ -435,6 +440,8 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.pitch_damping, &(_parameters.pitch_damping)); param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate)); + param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p)); + _l1_control.set_l1_damping(_parameters.l1_damping); _l1_control.set_l1_period(_parameters.l1_period); _l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit)); @@ -453,6 +460,7 @@ FixedwingPositionControl::parameters_update() _tecs.set_indicated_airspeed_min(_parameters.airspeed_min); _tecs.set_indicated_airspeed_max(_parameters.airspeed_min); _tecs.set_max_climb_rate(_parameters.max_climb_rate); + _tecs.set_heightrate_p(_parameters.heightrate_p); /* sanity check parameters */ if (_parameters.airspeed_max < _parameters.airspeed_min || |