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 | 34 |
1 files changed, 20 insertions, 14 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index c102f5dee..efa89a5d3 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -104,12 +104,17 @@ protected: uORB::Publication<tecs_status_s> _status; /**< publish internal values for logging */ /* control blocks */ - BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */ - BlockFFPILimitedCustom _controlEnergyDistribution; /**< FFPI controller for energy distribution control: output is pitch */ - BlockPDLimited _controlAltitude; /**< PD controller for altitude: output is the flight path angle setpoint */ - BlockPDLimited _controlAirSpeed; /**< PD controller for airspeed: output is acceleration setpoint */ + BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output + is throttle */ + BlockFFPILimitedCustom _controlEnergyDistribution; /**< FFPI controller for energy distribution control: + output is pitch */ + BlockPDLimited _controlAltitude; /**< PD controller for altitude: output is the flight + path angle setpoint */ + BlockPDLimited _controlAirSpeed; /**< PD controller for airspeed: output is acceleration + setpoint */ /* Other calculation Blocks */ + control::BlockLowPass _flightPathAngleLowpass; /**< low pass filter for the flight path angle */ control::BlockLowPass _airspeedLowpass; /**< low pass filter for airspeed */ control::BlockDerivative _airspeedDerivative; /**< airspeed derivative calulation */ @@ -118,21 +123,22 @@ 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 _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits when underspeed is detected */ - BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit when underspeed is detected */ - BlockOutputLimiter _BlockOutputLimiterLandThrottle; /**< Throttle Limits during landing (only in last phase)*/ - BlockOutputLimiter _BlockOutputLimiterLandPitch; /**< Pitch Limit during landing */ + BlockOutputLimiter _BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */ + BlockOutputLimiter _BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */ + BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits when underspeed is detected */ + BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit when underspeed is detected */ + BlockOutputLimiter _BlockOutputLimiterLandThrottle; /**< Throttle Limits during landing (only in + last phase)*/ + BlockOutputLimiter _BlockOutputLimiterLandPitch; /**< Pitch Limit during landing */ /* Time measurements */ - hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */ + 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 _firstIterationAfterReset; /**< True during the first iteration after a reset */ + bool _dtCalculated; /**< True if dt has been calculated in this iteration */ int _counter; - bool _debug; ///< Set true to enable debug output + bool _debug; ///< Set true to enable debug output static void debug_print(const char *fmt, va_list args); |