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 | 22 |
1 files changed, 18 insertions, 4 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 0127160fb..0e5f805b4 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 @@ -215,6 +215,10 @@ private: float land_slope_angle; float land_slope_length; + float land_H1_virt; + float land_flare_alt_relative; + float land_thrust_lim_horizontal_distance; + } _parameters; /**< local copies of interesting parameters */ struct { @@ -254,6 +258,10 @@ private: param_t land_slope_angle; param_t land_slope_length; + param_t land_H1_virt; + param_t land_flare_alt_relative; + param_t land_thrust_lim_horizontal_distance; + } _parameter_handles; /**< handles for interesting parameters */ @@ -383,6 +391,9 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.land_slope_angle = param_find("FW_LND_ANG"); _parameter_handles.land_slope_length = param_find("FW_LND_SLLR"); + _parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT"); + _parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT"); + _parameter_handles.land_thrust_lim_horizontal_distance = param_find("FW_LND_TLDIST"); _parameter_handles.time_const = param_find("FW_T_TIME_CONST"); _parameter_handles.min_sink_rate = param_find("FW_T_SINK_MIN"); @@ -466,6 +477,9 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle)); param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length)); + 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_horizontal_distance, &(_parameters.land_thrust_lim_horizontal_distance)); _l1_control.set_l1_damping(_parameters.l1_damping); _l1_control.set_l1_period(_parameters.l1_period); @@ -479,7 +493,7 @@ FixedwingPositionControl::parameters_update() _tecs.set_vertical_accel_limit(_parameters.vertical_accel_limit); _tecs.set_height_comp_filter_omega(_parameters.height_comp_filter_omega); _tecs.set_speed_comp_filter_omega(_parameters.speed_comp_filter_omega); - _tecs.set_roll_throttle_compensation(math::radians(_parameters.roll_throttle_compensation)); + _tecs.set_roll_throttle_compensation(_parameters.roll_throttle_compensation); _tecs.set_speed_weight(_parameters.speed_weight); _tecs.set_pitch_damping(_parameters.pitch_damping); _tecs.set_indicated_airspeed_min(_parameters.airspeed_min); @@ -816,10 +830,10 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio float airspeed_approach = 1.3f * _parameters.airspeed_min; float landing_slope_angle_rad = math::radians(_parameters.land_slope_angle); - float flare_relative_alt = 15.0f; - float motor_lim_horizontal_distance = 30.0f;//be generous here as we currently have to rely on the user input for the waypoint + float flare_relative_alt = _parameters.land_flare_alt_relative; + float motor_lim_horizontal_distance = _parameters.land_thrust_lim_horizontal_distance;//be generous here as we currently have to rely on the user input for the waypoint float L_wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), curr_wp.getX(), curr_wp.getY()) * _parameters.land_slope_length; - float H1 = 10.0f; + float H1 = _parameters.land_H1_virt; float H0 = flare_relative_alt + H1; float d1 = flare_relative_alt/tanf(landing_slope_angle_rad); float flare_constant = (H0 * d1)/flare_relative_alt;//-flare_length/(logf(H1/H0)); |