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Plane: Q_LAND_SPEED -> Q_LAND_FINAL_SPD

This commit is contained in:
Andrew Tridgell 2024-01-19 13:22:40 +11:00
parent af420746ee
commit 2d0a236b49
2 changed files with 13 additions and 10 deletions
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19
ArduPlane/quadplane.cpp
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@ -120,14 +120,14 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// YAW_RATE_MAX index 25
// @Param: LAND_SPEED
// @DisplayName: Land speed
// @Description: The descent speed for the final stage of landing in cm/s
// @Units: cm/s
// @Range: 30 200
// @Increment: 10
// @Param: LAND_FINAL_SPD
// @DisplayName: Land final speed
// @Description: The descent speed for the final stage of landing in m/s
// @Units: m/s
// @Range: 0.3 2
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("LAND_SPEED", 26, QuadPlane, land_speed_cms, 50),
AP_GROUPINFO("LAND_FINAL_SPD", 26, QuadPlane, land_final_speed, 0.5),
// @Param: LAND_FINAL_ALT
// @DisplayName: Land final altitude
@ -823,6 +823,9 @@ bool QuadPlane::setup(void)
AP_Param::convert_old_parameters(&q_conversion_table[0], ARRAY_SIZE(q_conversion_table));
// added January 2024
land_final_speed.convert_centi_parameter(AP_PARAM_INT16);
tailsitter.setup();
tiltrotor.setup();
@ -1246,7 +1249,7 @@ float QuadPlane::landing_descent_rate_cms(float height_above_ground)
height_above_ground = MIN(height_above_ground, land_final_alt);
}
const float max_climb_speed = wp_nav->get_default_speed_up();
float ret = linear_interpolate(land_speed_cms, wp_nav->get_default_speed_down(),
float ret = linear_interpolate(land_final_speed*100, wp_nav->get_default_speed_down(),
height_above_ground,
land_final_alt, land_final_alt+6);

4
ArduPlane/quadplane.h
View File

@ -349,8 +349,8 @@ private:
uint32_t alt_error_start_ms;
bool in_alt_assist;
// landing speed in cm/s
AP_Int16 land_speed_cms;
// landing speed in m/s
AP_Float land_final_speed;
// QRTL start altitude, meters
AP_Int16 qrtl_alt;