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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-17 20:58:27 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-17 20:58:27 +0200 |
| commit | 885efa2cfe3fd74dbf99b577e3ca486b154fd754 (patch) | |
| tree | 5e9c6d53fad3c2a3df016884b1e0155c7060bf94 /src | |
| parent | fddcff1f5f6a3ade1b9dcd71afd9666601b9c285 (diff) | |
| download | px4-firmware-885efa2cfe3fd74dbf99b577e3ca486b154fd754.tar.gz px4-firmware-885efa2cfe3fd74dbf99b577e3ca486b154fd754.tar.bz2 px4-firmware-885efa2cfe3fd74dbf99b577e3ca486b154fd754.zip | |
fw pos control: landing: fix argument order
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 30 |
1 files changed, 22 insertions, 8 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 20f3fefcd..95165ecaa 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 @@ -1047,11 +1047,17 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi altitude_desired_rel = math::max(relative_alt, L_altitude_rel); } - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach), eas2tas, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, + calculate_target_airspeed(airspeed_approach), eas2tas, + math::radians(_parameters.pitch_limit_min), + math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, + _parameters.throttle_max, + _parameters.throttle_cruise, + false, + math::radians(_parameters.pitch_limit_min), _pos_sp_triplet.current.alt + relative_alt, - false, math::radians(_parameters.pitch_limit_min), ground_speed); + ground_speed); } } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) { @@ -1107,10 +1113,18 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); } else { - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, + calculate_target_airspeed(_parameters.airspeed_trim), + eas2tas, + math::radians(_parameters.pitch_limit_min), + math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, + _parameters.throttle_max, + _parameters.throttle_cruise, + false, + math::radians(_parameters.pitch_limit_min), + _global_pos.alt, + ground_speed); } } else { |