diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/mtecs/mTecs.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 25 |
1 files changed, 18 insertions, 7 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 3118ea5d1..33bfd4962 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -58,6 +58,8 @@ mTecs::mTecs() : _airspeedDerivative(this, "AD"), _throttleSp(0.0f), _pitchSp(0.0f), + BlockOutputLimiterTakeoffThrottle(this, "TKF_THR"), + BlockOutputLimiterTakeoffPitch(this, "TKF_PIT", true), timestampLastIteration(hrt_absolute_time()), _firstIterationAfterReset(true), dtCalculated(false), @@ -69,7 +71,7 @@ mTecs::~mTecs() { } -void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp) +void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode) { /* time measurement */ @@ -80,10 +82,10 @@ void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alt warnx("***"); warnx("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp); } - updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp); + updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode); } -void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp) { +void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode) { /* time measurement */ updateTimeMeasurement(); @@ -92,10 +94,10 @@ void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAn if (_counter % 10 == 0) { warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); } - updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp); + updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp, mode); } -void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp) +void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode) { /* time measurement */ updateTimeMeasurement(); @@ -131,12 +133,21 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); } + /* Set special ouput limiters if we are not in TECS_MODE_NORMAL */ + BlockOutputLimiter *outputLimiterThrottle = NULL; + BlockOutputLimiter *outputLimiterPitch = NULL; + if (mode == TECS_MODE_TAKEOFF) { + outputLimiterThrottle = &BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector + outputLimiterPitch = &BlockOutputLimiterTakeoffPitch; + } + /** update control blocks **/ /* update total energy rate control block */ - _throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError); + _throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError, outputLimiterThrottle); /* update energy distribution rate control block */ - _pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError); + _pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError, outputLimiterPitch); + if (_counter % 10 == 0) { warnx("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f", |