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AP_TECS: Parameter TECS_LAND_SPDWGT allows custom landing speed weight.

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This commit is contained in:
Michael Day 2014-04-09 09:50:52 -07:00 committed by Andrew Tridgell
parent 030567854b
commit 312a2fc8dc
2 changed files with 17 additions and 8 deletions
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24
libraries/AP_TECS/AP_TECS.cpp
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@ -125,6 +125,14 @@ const AP_Param::GroupInfo AP_TECS::var_info[] PROGMEM = {
// @User: User
AP_GROUPINFO("LAND_THR", 13, AP_TECS, _landThrottle, -1),
// @Param: LAND_SPDWGT
// @DisplayName: Weighting applied to speed control during landing.
// @Description: Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages. A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point). A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall.
// @Range: 0.0 to 2.0
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("LAND_SPDWGT", 14, AP_TECS, _spdWeightLand, 1.0f),
AP_GROUPEND
};
@ -520,17 +528,17 @@ void AP_TECS::_update_pitch(void)
// This is used to determine how the pitch control prioritises speed and height control
// A weighting of 1 provides equal priority (this is the normal mode of operation)
// A SKE_weighting of 0 provides 100% priority to height control. This is used when no airspeed measurement is available
// A SKE_weighting of 2 provides 100% priority to speed control. This is used when an underspeed condition is detected
// or during takeoff/climbout where a minimum pitch angle is set to ensure height is gained. In this instance, if airspeed
// A SKE_weighting of 2 provides 100% priority to speed control. This is used when an underspeed condition is detected. In this instance, if airspeed
// rises above the demanded value, the pitch angle will be increased by the TECS controller.
// OR during landing approach to keep the nose up (pitch to maintain landing speed, DON'T pitch down to try to reach a desired height
float SKE_weighting = constrain_float(_spdWeight, 0.0f, 2.0f);
if ( ( _underspeed || (_flight_stage == AP_TECS::FLIGHT_TAKEOFF) || _flight_stage == AP_TECS::FLIGHT_LAND_APPROACH || _flight_stage == AP_TECS::FLIGHT_LAND_FINAL ) &&
_ahrs.airspeed_sensor_enabled() ) {
SKE_weighting = 2.0f;
} else if (!_ahrs.airspeed_sensor_enabled()) {
if (!_ahrs.airspeed_sensor_enabled()) {
SKE_weighting = 0.0f;
}
} else if ( _underspeed || _flight_stage == AP_TECS::FLIGHT_TAKEOFF) {
SKE_weighting = 2.0f;
} else if (_flight_stage == AP_TECS::FLIGHT_LAND_APPROACH || _flight_stage == AP_TECS::FLIGHT_LAND_FINAL) {
SKE_weighting = constrain_float(_spdWeightLand, 0.0f, 2.0f);
}
float SPE_weighting = 2.0f - SKE_weighting;
// Calculate Specific Energy Balance demand, and error

1
libraries/AP_TECS/AP_TECS.h
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@ -117,6 +117,7 @@ private:
AP_Float _vertAccLim;
AP_Float _rollComp;
AP_Float _spdWeight;
AP_Float _spdWeightLand;
AP_Float _landThrottle;
AP_Float _landAirspeed;