From d0325f2b125a3573231443b7b4bac04b65081426 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 13 Dec 2014 17:13:20 +0100 Subject: fw pos ctrl: takeoff special case only in takeoff --- .../fw_pos_control_l1/fw_pos_control_l1_main.cpp | 51 ++++++++++++---------- 1 file changed, 27 insertions(+), 24 deletions(-) (limited to 'src/modules') 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 1592e70d8..eec37f80c 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 @@ -1207,15 +1207,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, - math::radians(_parameters.pitch_limit_min), - math::radians(_parameters.pitch_limit_max), - _parameters.throttle_min, - takeoff_throttle, - _parameters.throttle_cruise, - false, - math::radians(_parameters.pitch_limit_min), - _global_pos.alt, - ground_speed); + math::radians(_parameters.pitch_limit_min), + math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, + takeoff_throttle, + _parameters.throttle_cruise, + false, + math::radians(_parameters.pitch_limit_min), + _global_pos.alt, + ground_speed); } } else { /* Tell the attitude controller to stop integrating while we are waiting @@ -1290,18 +1290,18 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi was_in_deadband = true; } tecs_update_pitch_throttle(_hold_alt, - altctrl_airspeed, - eas2tas, - math::radians(_parameters.pitch_limit_min), - math::radians(_parameters.pitch_limit_max), - _parameters.throttle_min, - _parameters.throttle_max, - _parameters.throttle_cruise, - false, - math::radians(_parameters.pitch_limit_min), - _global_pos.alt, - ground_speed, - TECS_MODE_NORMAL); + altctrl_airspeed, + eas2tas, + math::radians(_parameters.pitch_limit_min), + math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, + _parameters.throttle_max, + _parameters.throttle_cruise, + false, + math::radians(_parameters.pitch_limit_min), + _global_pos.alt, + ground_speed, + TECS_MODE_NORMAL); } else { _control_mode_current = FW_POSCTRL_MODE_OTHER; @@ -1320,10 +1320,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } + /* Copy thrust output for publication */ if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) { /* Set thrust to 0 to minimize damage */ _att_sp.thrust = 0.0f; - } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && + } else if (_control_mode_current == FW_POSCTRL_MODE_AUTO && // launchdetector only available in auot + pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) { /* making sure again that the correct thrust is used, * without depending on library calls for safety reasons */ @@ -1336,8 +1338,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* During a takeoff waypoint while waiting for launch the pitch sp is set * already (not by tecs) */ - if (!(pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && - launch_detection_state == LAUNCHDETECTION_RES_NONE)) { + if (!(_control_mode_current == FW_POSCTRL_MODE_AUTO && + pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && + launch_detection_state == LAUNCHDETECTION_RES_NONE)) { _att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand(); } -- cgit v1.2.3