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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-04 10:59:35 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-06 15:15:30 +0200 |
| commit | e056fbb7038e4274fc54f4e19e66c8174ffff28f (patch) | |
| tree | 5adbe083dfb108baec376b7af566c36a4c7ac5be /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 421b1b5725ac047b5ab3aadd51be6243bf89c514 (diff) | |
| download | px4-firmware-e056fbb7038e4274fc54f4e19e66c8174ffff28f.tar.gz px4-firmware-e056fbb7038e4274fc54f4e19e66c8174ffff28f.tar.bz2 px4-firmware-e056fbb7038e4274fc54f4e19e66c8174ffff28f.zip | |
add heightrate ff for 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 | 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 84c14be01..d339b1c4d 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 @@ -211,6 +211,7 @@ private: float max_climb_rate; float climbout_diff; float heightrate_p; + float heightrate_ff; float speedrate_p; float throttle_damp; float integrator_gain; @@ -256,6 +257,7 @@ 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; @@ -494,6 +496,7 @@ 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 */ @@ -563,6 +566,7 @@ 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)); @@ -600,6 +604,7 @@ 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 */ |