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AP_TECS: added TECS_LAND_PMAX

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this limits maximum pitch during the flare, which both reduces
integrator windup and prevents too high pitch which can cause a stall
This commit is contained in:
Andrew Tridgell 2015-03-19 14:46:32 +11:00
parent 8b78e6f2c0
commit 5a4ed85588
2 changed files with 15 additions and 0 deletions
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14
libraries/AP_TECS/AP_TECS.cpp
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@ -176,6 +176,14 @@ const AP_Param::GroupInfo AP_TECS::var_info[] PROGMEM = {
// @User: Advanced
AP_GROUPINFO("LAND_DAMP", 19, AP_TECS, _landDamp, 0.5f),
// @Param: LAND_PMAX
// @DisplayName: Maximum pitch during final stage of landing
// @Description: This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits.
// @Range: 0 40
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("LAND_PMAX", 20, AP_TECS, _land_pitch_max, 10),
AP_GROUPEND
};
@ -802,6 +810,11 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
// in flare use min pitch from LAND_PITCH_CD
_PITCHminf = max(_PITCHminf, aparm.land_pitch_cd * 0.01f);
// and use max pitch from TECS_LAND_PMAX
if (_land_pitch_max > 0) {
_PITCHmaxf = min(_PITCHmaxf, _land_pitch_max);
}
// and allow zero throttle
_THRminf = 0;
} else if (flight_stage == FLIGHT_LAND_APPROACH && (-_climb_rate) > _land_sink) {
@ -824,6 +837,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
_PITCHminf = max(_PITCHminf, pitch_limit_cd*0.01f);
}
}
// convert to radians
_PITCHmaxf = radians(_PITCHmaxf);
_PITCHminf = radians(_PITCHminf);

1
libraries/AP_TECS/AP_TECS.h
View File

@ -132,6 +132,7 @@ private:
AP_Float _land_sink;
AP_Int8 _pitch_max;
AP_Int8 _pitch_min;
AP_Int8 _land_pitch_max;
// throttle demand in the range from 0.0 to 1.0
float _throttle_dem;