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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-02 15:00:26 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-02 15:00:26 +0200 |
commit | 18f0ee3f28763c330dfd0c0998c47c46e5edde04 (patch) | |
tree | aba5b6aea9899928bc8f24cd80098820ea348a3c /src/modules/fw_pos_control_l1 | |
parent | fe0642d5e992304572b6d2eae922bbed1d27406f (diff) | |
parent | 2780dc39ce5d47f2d9dfa921062100a1dc86c2be (diff) | |
download | px4-firmware-18f0ee3f28763c330dfd0c0998c47c46e5edde04.tar.gz px4-firmware-18f0ee3f28763c330dfd0c0998c47c46e5edde04.tar.bz2 px4-firmware-18f0ee3f28763c330dfd0c0998c47c46e5edde04.zip |
Merge remote-tracking branch 'upstream/master' into obcfailsafe
Conflicts:
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
Diffstat (limited to 'src/modules/fw_pos_control_l1')
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 12 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 13 |
2 files changed, 20 insertions, 5 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 0c35ccb2c..5d62c90ab 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 @@ -578,6 +578,12 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt)); param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative)); param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative)); + + /* check if negative value for 2/3 of flare altitude is set for throttle cut */ + if (_parameters.land_thrust_lim_alt_relative < 0.0f) { + _parameters.land_thrust_lim_alt_relative = 0.66f * _parameters.land_flare_alt_relative; + } + param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance)); param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt)); @@ -843,7 +849,7 @@ float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, * the measurement is valid * the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt */ - if (range_finder_use_relative_alt < 0 || !range_finder.valid || rel_alt_estimated > range_finder_use_relative_alt ) { + if (range_finder_use_relative_alt < 0 || !range_finder.valid || range_finder.distance > range_finder_use_relative_alt ) { return rel_alt_estimated; } @@ -1419,6 +1425,10 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_ pitch_min_rad = M_DEG_TO_RAD_F * -1.0f; pitch_max_rad = M_DEG_TO_RAD_F * 5.0f; } + +/* No underspeed protection in landing mode */ + _tecs.set_detect_underspeed_enabled(!(mode == TECS_MODE_LAND || mode == TECS_MODE_LAND_THROTTLELIM)); + /* Using tecs library */ _tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp, _airspeed.indicated_airspeed_m_s, eas2tas, diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 41c374407..890ab3bad 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -379,18 +379,23 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); /** - * Landing flare altitude (relative) + * Landing flare altitude (relative to landing altitude) * + * @unit meter * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); +PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f); /** - * Landing throttle limit altitude (relative) + * Landing throttle limit altitude (relative landing altitude) * + * Default of -1.0f lets the system default to applying throttle + * limiting at 2/3 of the flare altitude. + * + * @unit meter * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); +PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f); /** * Landing heading hold horizontal distance |