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AP_TECS: added TECS_LAND_SINK parameter

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this controls the sink rate for the final stage of landing
This commit is contained in:
Andrew Tridgell 2014-08-11 16:45:06 +10:00
parent 165993dbf5
commit 2297c6bcd2
2 changed files with 17 additions and 2 deletions
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18
libraries/AP_TECS/AP_TECS.cpp
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@ -1,4 +1,4 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "AP_TECS.h"
#include <AP_HAL.h>
@ -117,7 +117,7 @@ const AP_Param::GroupInfo AP_TECS::var_info[] PROGMEM = {
// @User: User
AP_GROUPINFO("LAND_ARSPD", 12, AP_TECS, _landAirspeed, -1),
// @Param; LAND_THR
// @Param: LAND_THR
// @DisplayName: Cruise throttle during landing approach (percentage)
// @Description: Use this parameter instead of LAND_ASPD if your platform does not have an airspeed sensor. It is the cruise throttle during landing approach. If it is negative if TECS_LAND_ASPD is in use then this value is not used during landing.
// @Range: -1 to 100
@ -149,6 +149,14 @@ const AP_Param::GroupInfo AP_TECS::var_info[] PROGMEM = {
// @User: Advanced
AP_GROUPINFO("PITCH_MIN", 16, AP_TECS, _pitch_min, 0),
// @Param: LAND_SINK
// @DisplayName: Sink rate for final landing stage
// @Description: The sink rate in meters/second for the final stage of landing.
// @Range: 0.0 to 2.0
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("LAND_SINK", 17, AP_TECS, _land_sink, 0.25f),
AP_GROUPEND
};
@ -353,6 +361,12 @@ void AP_TECS::_update_height_demand(void)
_hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last;
_hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f;
_hgt_dem_adj_last = _hgt_dem_adj;
// in final landing stage force height rate demand to the
// configured sink rate
if (_flight_stage == FLIGHT_LAND_FINAL) {
_hgt_rate_dem = - _land_sink;
}
}
void AP_TECS::_detect_underspeed(void)

1
libraries/AP_TECS/AP_TECS.h
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@ -123,6 +123,7 @@ private:
AP_Float _spdWeightLand;
AP_Float _landThrottle;
AP_Float _landAirspeed;
AP_Float _land_sink;
AP_Int8 _pitch_max;
AP_Int8 _pitch_min;