diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/mtecs/mTecs.h')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.h | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 6c30a458a..393dd294d 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -60,6 +60,7 @@ public: typedef enum { TECS_MODE_NORMAL, + TECS_MODE_UNDERSPEED, TECS_MODE_TAKEOFF } tecs_mode; @@ -92,6 +93,7 @@ public: protected: /* parameters */ control::BlockParamInt _mTecsEnabled; /**< 1 if mTecs is enabled */ + control::BlockParamFloat _airspeedMin; /**< minimal airspeed */ /* control blocks */ BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */ @@ -107,14 +109,16 @@ protected: float _pitchSp; /**< Pitch Setpoint from -pi to pi */ /* Output Limits in special modes */ - BlockOutputLimiter BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */ - BlockOutputLimiter BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */ + BlockOutputLimiter _BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */ + BlockOutputLimiter _BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */ + BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits during takeoff */ + BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit during takeoff */ /* Time measurements */ hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */ bool _firstIterationAfterReset; /**< True during the first iteration after a reset */ - bool dtCalculated; /**< True if dt has been calculated in this iteration */ + bool _dtCalculated; /**< True if dt has been calculated in this iteration */ int _counter; |