diff options
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 | 61 |
1 files changed, 44 insertions, 17 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 a9648b207..99428ea50 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 @@ -86,6 +86,7 @@ #include <ecl/l1/ecl_l1_pos_controller.h> #include <external_lgpl/tecs/tecs.h> +#include <launchdetection/LaunchDetector.h> /** * L1 control app start / stop handling function @@ -164,6 +165,9 @@ private: /* heading hold */ float target_bearing; + /* Launch detection */ + LaunchDetector launchDetector; + /* throttle and airspeed states */ float _airspeed_error; ///< airspeed error to setpoint in m/s bool _airspeed_valid; ///< flag if a valid airspeed estimate exists @@ -338,7 +342,8 @@ FixedwingPositionControl::FixedwingPositionControl() : _airspeed_valid(false), _groundspeed_undershoot(0.0f), _global_pos_valid(false), - land_noreturn(false) + land_noreturn(false), + launchDetector() { _nav_capabilities.turn_distance = 0.0f; @@ -464,6 +469,8 @@ FixedwingPositionControl::parameters_update() return 1; } + launchDetector.updateParams(); + return OK; } @@ -818,30 +825,50 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio } else if (global_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) { + /* Perform launch detection */ + bool do_fly_takeoff = false; + warnx("Launch detection running"); + if (launchDetector.launchDetectionEnabled()) { + launchDetector.update(_accel.x); + if (launchDetector.getLaunchDetected()) { + do_fly_takeoff = true; + warnx("Launch detected. Taking off!"); + } + } else { + /* no takeoff detection --> fly */ + do_fly_takeoff = true; + } + + _l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - /* apply minimum pitch and limit roll if target altitude is not within 10 meters */ - if (altitude_error > 10.0f) { + if (do_fly_takeoff) { - /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */ - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min), - _airspeed.indicated_airspeed_m_s, eas2tas, - true, math::max(math::radians(global_triplet.current.param1), math::radians(10.0f)), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + /* apply minimum pitch and limit roll if target altitude is not within 10 meters */ + if (altitude_error > 10.0f) { - /* limit roll motion to ensure enough lift */ - _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); + /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */ + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min), + _airspeed.indicated_airspeed_m_s, eas2tas, + true, math::max(math::radians(global_triplet.current.param1), math::radians(10.0f)), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); - } else { + /* limit roll motion to ensure enough lift */ + _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + } else { + + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim), + _airspeed.indicated_airspeed_m_s, eas2tas, + false, math::radians(_parameters.pitch_limit_min), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + } + } else { + throttle_max = 0.0f; } } |