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 | 13 |
1 files changed, 9 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 08f9d3c15..50a54c792 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 @@ -207,6 +207,8 @@ private: float loiter_hold_radius; + float heightrate_p; + float land_slope_angle; float land_slope_length; } _parameters; /**< local copies of interesting parameters */ @@ -244,6 +246,8 @@ private: param_t loiter_hold_radius; + param_t heightrate_p; + param_t land_slope_angle; param_t land_slope_length; } _parameter_handles; /**< handles for interesting parameters */ @@ -384,6 +388,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.roll_throttle_compensation = param_find("FW_T_RLL2THR"); _parameter_handles.speed_weight = param_find("FW_T_SPDWEIGHT"); _parameter_handles.pitch_damping = param_find("FW_T_PTCH_DAMP"); + _parameter_handles.heightrate_p = param_find("FW_T_HRATE_P"); /* fetch initial parameter values */ parameters_update(); @@ -449,11 +454,11 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.pitch_damping, &(_parameters.pitch_damping)); param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate)); + param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p)); param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle)); param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length)); - _l1_control.set_l1_damping(_parameters.l1_damping); _l1_control.set_l1_period(_parameters.l1_period); _l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit)); @@ -470,8 +475,9 @@ FixedwingPositionControl::parameters_update() _tecs.set_speed_weight(_parameters.speed_weight); _tecs.set_pitch_damping(_parameters.pitch_damping); _tecs.set_indicated_airspeed_min(_parameters.airspeed_min); - _tecs.set_indicated_airspeed_max(_parameters.airspeed_min); + _tecs.set_indicated_airspeed_max(_parameters.airspeed_max); _tecs.set_max_climb_rate(_parameters.max_climb_rate); + _tecs.set_heightrate_p(_parameters.heightrate_p); /* sanity check parameters */ if (_parameters.airspeed_max < _parameters.airspeed_min || @@ -520,7 +526,6 @@ FixedwingPositionControl::vehicle_airspeed_poll() orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed); _airspeed_valid = true; _airspeed_last_valid = hrt_absolute_time(); - return true; } else { @@ -533,7 +538,7 @@ FixedwingPositionControl::vehicle_airspeed_poll() /* update TECS state */ _tecs.enable_airspeed(_airspeed_valid); - return false; + return airspeed_updated; } void |