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author | Julian Oes <julian@oes.ch> | 2014-06-12 19:12:44 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-06-12 19:12:44 +0200 |
commit | 59ae8cc054e941aa28edb2b668732ff4024e1cd5 (patch) | |
tree | 1032bbf0da29b1a69a6be60add55a7349c01765d /src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | |
parent | d48a8bc073a3aa5f515c582a1c2c3cae58a8d783 (diff) | |
parent | f4898b94c6fd86d9087ee98634cf543fc1fdcbeb (diff) | |
download | px4-firmware-59ae8cc054e941aa28edb2b668732ff4024e1cd5.tar.gz px4-firmware-59ae8cc054e941aa28edb2b668732ff4024e1cd5.tar.bz2 px4-firmware-59ae8cc054e941aa28edb2b668732ff4024e1cd5.zip |
Merge branch 'navigator_rewrite' of github.com:PX4/Firmware into navigator_rewrite
Diffstat (limited to 'src/modules/fw_pos_control_l1/mtecs/mTecs.cpp')
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 47 |
1 files changed, 15 insertions, 32 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 32f9f19ca..03353cbc1 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -58,6 +58,7 @@ mTecs::mTecs() : _controlEnergyDistribution(this, "PIT", true), _controlAltitude(this, "FPA", true), _controlAirSpeed(this, "ACC"), + _airspeedLowpass(this, "A_LP"), _airspeedDerivative(this, "AD"), _throttleSp(0.0f), _pitchSp(0.0f), @@ -122,12 +123,18 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng /* time measurement */ updateTimeMeasurement(); + /* Filter arispeed */ + float airspeedFiltered = _airspeedLowpass.update(airspeed); + /* calculate longitudinal acceleration setpoint from airspeed setpoint*/ - float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeed); + float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeedFiltered); /* Debug output */ if (_counter % 10 == 0) { - debug("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); + debug("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f airspeedFiltered %.4f," + "accelerationLongitudinalSp%.4f", + (double)airspeedSp, (double)airspeed, + (double)airspeedFiltered, (double)accelerationLongitudinalSp); } /* Write part of the status message */ @@ -135,19 +142,20 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng _status.flightPathAngle = flightPathAngle; _status.airspeedSp = airspeedSp; _status.airspeed = airspeed; + _status.airspeedFiltered = airspeedFiltered; /* use longitudinal acceleration setpoint for total energy control */ - return updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, + return updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeedFiltered, accelerationLongitudinalSp, mode, limitOverride); } -int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, +int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered, float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride) { /* check if all input arguments are numbers and abort if not so */ if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) || - !isfinite(airspeed) || !isfinite(accelerationLongitudinalSp) || !isfinite(mode)) { + !isfinite(airspeedFiltered) || !isfinite(accelerationLongitudinalSp) || !isfinite(mode)) { return -1; } /* time measurement */ @@ -160,7 +168,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight float flightPathAngleError = flightPathAngleSp - flightPathAngle; float airspeedDerivative = 0.0f; if(_airspeedDerivative.getDt() > 0.0f) { - airspeedDerivative = _airspeedDerivative.update(airspeed); + airspeedDerivative = _airspeedDerivative.update(airspeedFiltered); } float airspeedDerivativeNorm = airspeedDerivative / CONSTANTS_ONE_G; float airspeedDerivativeSp = accelerationLongitudinalSp; @@ -186,7 +194,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight } /* Check airspeed: if below safe value switch to underspeed mode (if not in land or takeoff mode) */ - if (mode != TECS_MODE_LAND && mode != TECS_MODE_TAKEOFF && airspeed < _airspeedMin.get()) { + if (mode != TECS_MODE_LAND && mode != TECS_MODE_TAKEOFF && airspeedFiltered < _airspeedMin.get()) { mode = TECS_MODE_UNDERSPEED; } @@ -302,29 +310,4 @@ void mTecs::debug(const char *fmt, ...) { debug_print(fmt, args); } -bool mTecs::LimitOverride::applyOverride(BlockOutputLimiter &outputLimiterThrottle, - BlockOutputLimiter &outputLimiterPitch) -{ - bool ret = false; - - if (overrideThrottleMinEnabled) { - outputLimiterThrottle.setMin(overrideThrottleMin); - ret = true; - } - if (overrideThrottleMaxEnabled) { - outputLimiterThrottle.setMax(overrideThrottleMax); - ret = true; - } - if (overridePitchMinEnabled) { - outputLimiterPitch.setMin(overridePitchMin); - ret = true; - } - if (overridePitchMaxEnabled) { - outputLimiterPitch.setMax(overridePitchMax); - ret = true; - } - - return ret; -} - } /* namespace fwPosctrl */ |