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-rw-r--r--src/lib/external_lgpl/tecs/tecs.cpp3
-rw-r--r--src/lib/external_lgpl/tecs/tecs.h6
-rw-r--r--src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp2
-rw-r--r--src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp130
-rw-r--r--src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c141
5 files changed, 151 insertions, 131 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index d27bf776f..da99aa5b1 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -236,9 +236,8 @@ void TECS::_update_height_demand(float demand, float state)
// // _hgt_rate_dem);
_hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last;
+ _hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p + _heightrate_ff * (_hgt_dem_adj - _hgt_dem_adj_last)/_DT;
_hgt_dem_adj_last = _hgt_dem_adj;
-
- _hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p;
// Limit height rate of change
if (_hgt_rate_dem > _maxClimbRate) {
_hgt_rate_dem = _maxClimbRate;
diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h
index 36ae4ecaf..8ac31de6f 100644
--- a/src/lib/external_lgpl/tecs/tecs.h
+++ b/src/lib/external_lgpl/tecs/tecs.h
@@ -47,6 +47,7 @@ public:
_rollComp(0.0f),
_spdWeight(0.5f),
_heightrate_p(0.0f),
+ _heightrate_ff(0.0f),
_speedrate_p(0.0f),
_throttle_dem(0.0f),
_pitch_dem(0.0f),
@@ -220,6 +221,10 @@ public:
_heightrate_p = heightrate_p;
}
+ void set_heightrate_ff(float heightrate_ff) {
+ _heightrate_ff = heightrate_ff;
+ }
+
void set_speedrate_p(float speedrate_p) {
_speedrate_p = speedrate_p;
}
@@ -256,6 +261,7 @@ private:
float _rollComp;
float _spdWeight;
float _heightrate_p;
+ float _heightrate_ff;
float _speedrate_p;
// throttle demand in the range from 0.0 to 1.0
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 97abb76a9..2c50e5c75 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -1369,7 +1369,7 @@ FixedwingEstimator::task_main()
if (newRangeData) {
_ekf->fuseRngData = true;
_ekf->useRangeFinder = true;
- _ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 500.0f));
+ _ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 100.0f));
_ekf->GroundEKF();
}
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 84c14be01..806d2dede 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
@@ -88,7 +88,6 @@
#include <launchdetection/LaunchDetector.h>
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <external_lgpl/tecs/tecs.h>
-#include <drivers/drv_range_finder.h>
#include "landingslope.h"
#include "mtecs/mTecs.h"
@@ -145,7 +144,6 @@ private:
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
int _sensor_combined_sub; /**< for body frame accelerations */
- int _range_finder_sub; /**< range finder subscription */
orb_advert_t _attitude_sp_pub; /**< attitude setpoint */
orb_advert_t _tecs_status_pub; /**< TECS status publication */
@@ -160,17 +158,16 @@ private:
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */
struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */
- struct range_finder_report _range_finder; /**< range finder report */
perf_counter_t _loop_perf; /**< loop performance counter */
/* land states */
- /* not in non-abort mode for landing yet */
bool land_noreturn_horizontal;
bool land_noreturn_vertical;
bool land_stayonground;
bool land_motor_lim;
bool land_onslope;
+ bool land_useterrain;
/* takeoff/launch states */
LaunchDetectionResult launch_detection_state;
@@ -211,6 +208,7 @@ private:
float max_climb_rate;
float climbout_diff;
float heightrate_p;
+ float heightrate_ff;
float speedrate_p;
float throttle_damp;
float integrator_gain;
@@ -240,7 +238,8 @@ private:
float land_flare_alt_relative;
float land_thrust_lim_alt_relative;
float land_heading_hold_horizontal_distance;
- float range_finder_rel_alt;
+ float land_flare_pitch_min_deg;
+ float land_flare_pitch_max_deg;
} _parameters; /**< local copies of interesting parameters */
@@ -256,6 +255,7 @@ private:
param_t max_climb_rate;
param_t climbout_diff;
param_t heightrate_p;
+ param_t heightrate_ff;
param_t speedrate_p;
param_t throttle_damp;
param_t integrator_gain;
@@ -285,7 +285,8 @@ private:
param_t land_flare_alt_relative;
param_t land_thrust_lim_alt_relative;
param_t land_heading_hold_horizontal_distance;
- param_t range_finder_rel_alt;
+ param_t land_flare_pitch_min_deg;
+ param_t land_flare_pitch_max_deg;
} _parameter_handles; /**< handles for interesting parameters */
@@ -312,12 +313,6 @@ private:
bool vehicle_airspeed_poll();
/**
- * Check for range finder updates.
- */
- bool range_finder_poll();
-
-
- /**
* Check for position updates.
*/
void vehicle_attitude_poll();
@@ -338,9 +333,9 @@ private:
void navigation_capabilities_publish();
/**
- * Get the relative alt either from the difference between estimate and waypoint or from the laser range finder
+ * Return the terrain estimate during landing: uses the wp altitude value or the terrain estimate if available
*/
- float get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt);
+ float get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos);
/**
* Control position.
@@ -412,7 +407,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
_params_sub(-1),
_manual_control_sub(-1),
_sensor_combined_sub(-1),
- _range_finder_sub(-1),
/* publications */
_attitude_sp_pub(-1),
@@ -429,7 +423,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
_global_pos(),
_pos_sp_triplet(),
_sensor_combined(),
- _range_finder(),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
@@ -439,6 +432,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
land_stayonground(false),
land_motor_lim(false),
land_onslope(false),
+ land_useterrain(false),
launch_detection_state(LAUNCHDETECTION_RES_NONE),
last_manual(false),
landingslope(),
@@ -477,7 +471,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
_parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT");
_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
- _parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT");
+ _parameter_handles.land_flare_pitch_min_deg = param_find("FW_FLARE_PMIN");
+ _parameter_handles.land_flare_pitch_max_deg = param_find("FW_FLARE_PMAX");
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
_parameter_handles.time_const_throt = param_find("FW_T_THRO_CONST");
@@ -494,6 +489,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_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");
+ _parameter_handles.heightrate_ff = param_find("FW_T_HRATE_FF");
_parameter_handles.speedrate_p = param_find("FW_T_SRATE_P");
/* fetch initial parameter values */
@@ -563,6 +559,7 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.climbout_diff, &(_parameters.climbout_diff));
param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
+ param_get(_parameter_handles.heightrate_ff, &(_parameters.heightrate_ff));
param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
@@ -576,8 +573,8 @@ FixedwingPositionControl::parameters_update()
}
param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance));
-
- param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt));
+ param_get(_parameter_handles.land_flare_pitch_min_deg, &(_parameters.land_flare_pitch_min_deg));
+ param_get(_parameter_handles.land_flare_pitch_max_deg, &(_parameters.land_flare_pitch_max_deg));
_l1_control.set_l1_damping(_parameters.l1_damping);
_l1_control.set_l1_period(_parameters.l1_period);
@@ -600,6 +597,7 @@ FixedwingPositionControl::parameters_update()
_tecs.set_indicated_airspeed_max(_parameters.airspeed_max);
_tecs.set_max_climb_rate(_parameters.max_climb_rate);
_tecs.set_heightrate_p(_parameters.heightrate_p);
+ _tecs.set_heightrate_ff(_parameters.heightrate_ff);
_tecs.set_speedrate_p(_parameters.speedrate_p);
/* sanity check parameters */
@@ -669,20 +667,6 @@ FixedwingPositionControl::vehicle_airspeed_poll()
return airspeed_updated;
}
-bool
-FixedwingPositionControl::range_finder_poll()
-{
- /* check if there is a range finder measurement */
- bool range_finder_updated;
- orb_check(_range_finder_sub, &range_finder_updated);
-
- if (range_finder_updated) {
- orb_copy(ORB_ID(sensor_range_finder), _range_finder_sub, &_range_finder);
- }
-
- return range_finder_updated;
-}
-
void
FixedwingPositionControl::vehicle_attitude_poll()
{
@@ -820,21 +804,20 @@ void FixedwingPositionControl::navigation_capabilities_publish()
}
}
-float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt)
+float FixedwingPositionControl::get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos)
{
- float rel_alt_estimated = current_alt - land_setpoint_alt;
-
- /* only use range finder if:
- * parameter (range_finder_use_relative_alt) > 0
- * the measurement is valid
- * the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt
- */
- if (range_finder_use_relative_alt < 0 || !range_finder.valid || range_finder.distance > range_finder_use_relative_alt ) {
- return rel_alt_estimated;
+ if (!isfinite(global_pos.terrain_alt)) {
+ return land_setpoint_alt;
}
- return range_finder.distance;
-
+ /* Decide if the terrain estimation can be used, once we switched to using the terrain we stick with it
+ * for the whole landing */
+ if (global_pos.terrain_alt_valid || land_useterrain) {
+ land_useterrain = true;
+ return global_pos.terrain_alt;
+ } else {
+ return land_setpoint_alt;
+ }
}
bool
@@ -939,10 +922,17 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
+ float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
/* Horizontal landing control */
/* switch to heading hold for the last meters, continue heading hold after */
float wp_distance = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
+ /* calculate a waypoint distance value which is 0 when the aircraft is behind the waypoint */
+ float wp_distance_save = wp_distance;
+ if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) >= math::radians(90.0f)) {
+ wp_distance_save = 0.0f;
+ }
+
//warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
if (wp_distance < _parameters.land_heading_hold_horizontal_distance || land_noreturn_horizontal) {
@@ -978,29 +968,30 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* Vertical landing control */
//xxx: using the tecs altitude controller for slope control for now
-
-// /* do not go down too early */
-// if (wp_distance > 50.0f) {
-// altitude_error = (_global_triplet.current.alt + 25.0f) - _global_pos.alt;
-// }
/* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
// XXX this could make a great param
- float flare_pitch_angle_rad = -math::radians(5.0f);//math::radians(pos_sp_triplet.current.param1)
float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
float airspeed_land = 1.3f * _parameters.airspeed_min;
float airspeed_approach = 1.3f * _parameters.airspeed_min;
+ /* Get an estimate of the terrain altitude if available, otherwise terrain_alt will be
+ * equal to _pos_sp_triplet.current.alt */
+ float terrain_alt = get_terrain_altitude_landing(_pos_sp_triplet.current.alt, _global_pos);
+
/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
- float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f;
+ float L_altitude_rel = _pos_sp_triplet.previous.valid ?
+ _pos_sp_triplet.previous.alt - terrain_alt : 0.0f;
- float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
- float relative_alt = get_relative_landingalt(_pos_sp_triplet.current.alt, _global_pos.alt, _range_finder, _parameters.range_finder_rel_alt);
-
- if ( (relative_alt < landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
-
+ /* Check if we should start flaring with a vertical and a
+ * horizontal limit (with some tolerance)
+ * The horizontal limit is only applied when we are in front of the wp
+ */
+ if (((_global_pos.alt < terrain_alt + landingslope.flare_relative_alt()) &&
+ (wp_distance_save < landingslope.flare_length() + 5.0f)) ||
+ land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
/* land with minimal speed */
// /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */
@@ -1009,7 +1000,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* kill the throttle if param requests it */
throttle_max = _parameters.throttle_max;
- if (relative_alt < landingslope.motor_lim_relative_alt() || land_motor_lim) {
+ if (_global_pos.alt < terrain_alt + landingslope.motor_lim_relative_alt() || land_motor_lim) {
throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
if (!land_motor_lim) {
land_motor_lim = true;
@@ -1027,12 +1018,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
land_stayonground = true;
}
- tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + flare_curve_alt_rel,
+ tecs_update_pitch_throttle(terrain_alt + flare_curve_alt_rel,
calculate_target_airspeed(airspeed_land), eas2tas,
- flare_pitch_angle_rad, math::radians(15.0f),
+ math::radians(_parameters.land_flare_pitch_min_deg),
+ math::radians(_parameters.land_flare_pitch_max_deg),
0.0f, throttle_max, throttle_land,
- false, flare_pitch_angle_rad,
- _pos_sp_triplet.current.alt + relative_alt, ground_speed,
+ false, math::radians(_parameters.land_flare_pitch_min_deg),
+ _global_pos.alt, ground_speed,
land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND);
if (!land_noreturn_vertical) {
@@ -1053,8 +1045,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
* if current position is below the slope continue at previous wp altitude
* until the intersection with slope
* */
- float altitude_desired_rel = relative_alt;
- if (relative_alt > landing_slope_alt_rel_desired || land_onslope) {
+ float altitude_desired_rel;
+ if (_global_pos.alt > terrain_alt + landing_slope_alt_rel_desired || land_onslope) {
/* stay on slope */
altitude_desired_rel = landing_slope_alt_rel_desired;
if (!land_onslope) {
@@ -1063,10 +1055,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
} else {
/* continue horizontally */
- altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : relative_alt;
+ altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel :
+ _global_pos.alt - terrain_alt;
}
- tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel,
+ tecs_update_pitch_throttle(terrain_alt + altitude_desired_rel,
calculate_target_airspeed(airspeed_approach), eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
@@ -1075,7 +1068,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
- _pos_sp_triplet.current.alt + relative_alt,
+ _global_pos.alt,
ground_speed);
}
@@ -1239,7 +1232,6 @@ FixedwingPositionControl::task_main()
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
- _range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_control_mode_sub, 200);
@@ -1313,7 +1305,6 @@ FixedwingPositionControl::task_main()
vehicle_setpoint_poll();
vehicle_sensor_combined_poll();
vehicle_airspeed_poll();
- range_finder_poll();
// vehicle_baro_poll();
math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d);
@@ -1377,6 +1368,7 @@ void FixedwingPositionControl::reset_landing_state()
land_stayonground = false;
land_motor_lim = false;
land_onslope = false;
+ land_useterrain = false;
}
void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas,
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 890ab3bad..a13b23583 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -131,8 +131,8 @@ PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f);
/**
* Throttle limit max
*
- * This is the maximum throttle % that can be used by the controller.
- * For overpowered aircraft, this should be reduced to a value that
+ * This is the maximum throttle % that can be used by the controller.
+ * For overpowered aircraft, this should be reduced to a value that
* provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
*
* @group L1 Control
@@ -142,10 +142,10 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
/**
* Throttle limit min
*
- * This is the minimum throttle % that can be used by the controller.
- * For electric aircraft this will normally be set to zero, but can be set
- * to a small non-zero value if a folding prop is fitted to prevent the
- * prop from folding and unfolding repeatedly in-flight or to provide
+ * This is the minimum throttle % that can be used by the controller.
+ * For electric aircraft this will normally be set to zero, but can be set
+ * to a small non-zero value if a folding prop is fitted to prevent the
+ * prop from folding and unfolding repeatedly in-flight or to provide
* some aerodynamic drag from a turning prop to improve the descent rate.
*
* For aircraft with internal combustion engine this parameter should be set
@@ -158,7 +158,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
/**
* Throttle limit value before flare
*
- * This throttle value will be set as throttle limit at FW_LND_TLALT,
+ * This throttle value will be set as throttle limit at FW_LND_TLALT,
* before arcraft will flare.
*
* @group L1 Control
@@ -180,17 +180,17 @@ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
/**
* Maximum climb rate
*
- * This is the best climb rate that the aircraft can achieve with
- * the throttle set to THR_MAX and the airspeed set to the
- * default value. For electric aircraft make sure this number can be
- * achieved towards the end of flight when the battery voltage has reduced.
- * The setting of this parameter can be checked by commanding a positive
- * altitude change of 100m in loiter, RTL or guided mode. If the throttle
- * required to climb is close to THR_MAX and the aircraft is maintaining
- * airspeed, then this parameter is set correctly. If the airspeed starts
- * to reduce, then the parameter is set to high, and if the throttle
- * demand required to climb and maintain speed is noticeably less than
- * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
+ * This is the best climb rate that the aircraft can achieve with
+ * the throttle set to THR_MAX and the airspeed set to the
+ * default value. For electric aircraft make sure this number can be
+ * achieved towards the end of flight when the battery voltage has reduced.
+ * The setting of this parameter can be checked by commanding a positive
+ * altitude change of 100m in loiter, RTL or guided mode. If the throttle
+ * required to climb is close to THR_MAX and the aircraft is maintaining
+ * airspeed, then this parameter is set correctly. If the airspeed starts
+ * to reduce, then the parameter is set to high, and if the throttle
+ * demand required to climb and maintain speed is noticeably less than
+ * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
* FW_THR_MAX reduced.
*
* @group L1 Control
@@ -200,8 +200,8 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
/**
* Minimum descent rate
*
- * This is the sink rate of the aircraft with the throttle
- * set to THR_MIN and flown at the same airspeed as used
+ * This is the sink rate of the aircraft with the throttle
+ * set to THR_MIN and flown at the same airspeed as used
* to measure FW_T_CLMB_MAX.
*
* @group Fixed Wing TECS
@@ -211,10 +211,10 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
/**
* Maximum descent rate
*
- * This sets the maximum descent rate that the controller will use.
- * If this value is too large, the aircraft can over-speed on descent.
- * This should be set to a value that can be achieved without
- * exceeding the lower pitch angle limit and without over-speeding
+ * This sets the maximum descent rate that the controller will use.
+ * If this value is too large, the aircraft can over-speed on descent.
+ * This should be set to a value that can be achieved without
+ * exceeding the lower pitch angle limit and without over-speeding
* the aircraft.
*
* @group Fixed Wing TECS
@@ -224,7 +224,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
/**
* TECS time constant
*
- * This is the time constant of the TECS control algorithm (in seconds).
+ * This is the time constant of the TECS control algorithm (in seconds).
* Smaller values make it faster to respond, larger values make it slower
* to respond.
*
@@ -235,7 +235,7 @@ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
/**
* TECS Throttle time constant
*
- * This is the time constant of the TECS throttle control algorithm (in seconds).
+ * This is the time constant of the TECS throttle control algorithm (in seconds).
* Smaller values make it faster to respond, larger values make it slower
* to respond.
*
@@ -246,7 +246,7 @@ PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
/**
* Throttle damping factor
*
- * This is the damping gain for the throttle demand loop.
+ * This is the damping gain for the throttle demand loop.
* Increase to add damping to correct for oscillations in speed and height.
*
* @group Fixed Wing TECS
@@ -256,9 +256,9 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
/**
* Integrator gain
*
- * This is the integrator gain on the control loop.
- * Increasing this gain increases the speed at which speed
- * and height offsets are trimmed out, but reduces damping and
+ * This is the integrator gain on the control loop.
+ * Increasing this gain increases the speed at which speed
+ * and height offsets are trimmed out, but reduces damping and
* increases overshoot.
*
* @group Fixed Wing TECS
@@ -269,9 +269,9 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
* Maximum vertical acceleration
*
* This is the maximum vertical acceleration (in metres/second square)
- * either up or down that the controller will use to correct speed
- * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g)
- * allows for reasonably aggressive pitch changes if required to recover
+ * either up or down that the controller will use to correct speed
+ * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g)
+ * allows for reasonably aggressive pitch changes if required to recover
* from under-speed conditions.
*
* @group Fixed Wing TECS
@@ -281,10 +281,10 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
/**
* Complementary filter "omega" parameter for height
*
- * This is the cross-over frequency (in radians/second) of the complementary
- * filter used to fuse vertical acceleration and barometric height to obtain
- * an estimate of height rate and height. Increasing this frequency weights
- * the solution more towards use of the barometer, whilst reducing it weights
+ * This is the cross-over frequency (in radians/second) of the complementary
+ * filter used to fuse vertical acceleration and barometric height to obtain
+ * an estimate of height rate and height. Increasing this frequency weights
+ * the solution more towards use of the barometer, whilst reducing it weights
* the solution more towards use of the accelerometer data.
*
* @group Fixed Wing TECS
@@ -294,10 +294,10 @@ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
/**
* Complementary filter "omega" parameter for speed
*
- * This is the cross-over frequency (in radians/second) of the complementary
- * filter used to fuse longitudinal acceleration and airspeed to obtain an
+ * This is the cross-over frequency (in radians/second) of the complementary
+ * filter used to fuse longitudinal acceleration and airspeed to obtain an
* improved airspeed estimate. Increasing this frequency weights the solution
- * more towards use of the arispeed sensor, whilst reducing it weights the
+ * more towards use of the arispeed sensor, whilst reducing it weights the
* solution more towards use of the accelerometer data.
*
* @group Fixed Wing TECS
@@ -307,13 +307,13 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
/**
* Roll -> Throttle feedforward
*
- * Increasing this gain turn increases the amount of throttle that will
- * be used to compensate for the additional drag created by turning.
- * Ideally this should be set to approximately 10 x the extra sink rate
- * in m/s created by a 45 degree bank turn. Increase this gain if
- * the aircraft initially loses energy in turns and reduce if the
- * aircraft initially gains energy in turns. Efficient high aspect-ratio
- * aircraft (eg powered sailplanes) can use a lower value, whereas
+ * Increasing this gain turn increases the amount of throttle that will
+ * be used to compensate for the additional drag created by turning.
+ * Ideally this should be set to approximately 10 x the extra sink rate
+ * in m/s created by a 45 degree bank turn. Increase this gain if
+ * the aircraft initially loses energy in turns and reduce if the
+ * aircraft initially gains energy in turns. Efficient high aspect-ratio
+ * aircraft (eg powered sailplanes) can use a lower value, whereas
* inefficient low aspect-ratio models (eg delta wings) can use a higher value.
*
* @group Fixed Wing TECS
@@ -323,15 +323,15 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
/**
* Speed <--> Altitude priority
*
- * This parameter adjusts the amount of weighting that the pitch control
- * applies to speed vs height errors. Setting it to 0.0 will cause the
- * pitch control to control height and ignore speed errors. This will
- * normally improve height accuracy but give larger airspeed errors.
- * Setting it to 2.0 will cause the pitch control loop to control speed
- * and ignore height errors. This will normally reduce airspeed errors,
- * but give larger height errors. The default value of 1.0 allows the pitch
- * control to simultaneously control height and speed.
- * Note to Glider Pilots - set this parameter to 2.0 (The glider will
+ * This parameter adjusts the amount of weighting that the pitch control
+ * applies to speed vs height errors. Setting it to 0.0 will cause the
+ * pitch control to control height and ignore speed errors. This will
+ * normally improve height accuracy but give larger airspeed errors.
+ * Setting it to 2.0 will cause the pitch control loop to control speed
+ * and ignore height errors. This will normally reduce airspeed errors,
+ * but give larger height errors. The default value of 1.0 allows the pitch
+ * control to simultaneously control height and speed.
+ * Note to Glider Pilots - set this parameter to 2.0 (The glider will
* adjust its pitch angle to maintain airspeed, ignoring changes in height).
*
* @group Fixed Wing TECS
@@ -341,9 +341,9 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
/**
* Pitch damping factor
*
- * This is the damping gain for the pitch demand loop. Increase to add
- * damping to correct for oscillations in height. The default value of 0.0
- * will work well provided the pitch to servo controller has been tuned
+ * This is the damping gain for the pitch demand loop. Increase to add
+ * damping to correct for oscillations in height. The default value of 0.0
+ * will work well provided the pitch to servo controller has been tuned
* properly.
*
* @group Fixed Wing TECS
@@ -358,6 +358,13 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
/**
+ * Height rate FF factor
+ *
+ * @group Fixed Wing TECS
+ */
+PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.0f);
+
+/**
* Speed rate P factor
*
* @group Fixed Wing TECS
@@ -414,3 +421,19 @@ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f);
+
+/**
+ * Flare, minimum pitch
+ *
+ * Minimum pitch during flare, a positive sign means nose up
+ *
+ */
+PARAM_DEFINE_FLOAT(FW_FLARE_PMIN, 2.5f);
+
+/**
+ * Flare, maximum pitch
+ *
+ * Maximum pitch during flare, a positive sign means nose up
+ *
+ */
+PARAM_DEFINE_FLOAT(FW_FLARE_PMAX, 15.0f);
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-21 07:42:20 +0000