Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_TECS: disable bad descent for soaring

This commit is contained in:
Andrey Kolobov 2017-03-14 08:47:32 +11:00 committed by Andrew Tridgell
parent 9f2f070439
commit 5fdebe23cc
2 changed files with 12 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_TECS/AP_TECS.cpp
View File

@ -751,6 +751,11 @@ void AP_TECS::_detect_bad_descent(void)
{
_flags.badDescent = false;
}
// when soaring is active we never trigger a bad descent
if (_soaring_controller.is_active() && _soaring_controller.get_throttle_suppressed()) {
_flags.badDescent = false;
}
}
void AP_TECS::_update_pitch(void)

9
libraries/AP_TECS/AP_TECS.h
View File

@ -25,13 +25,15 @@
#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
#include <DataFlash/DataFlash.h>
#include <AP_Landing/AP_Landing.h>
#include <AP_Soaring/AP_Soaring.h>
class AP_TECS : public AP_SpdHgtControl {
public:
AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, const AP_Landing &landing) :
AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, const AP_Landing &landing, const SoaringController &soaring_controller) :
_ahrs(ahrs),
aparm(parms),
_landing(landing)
_landing(landing),
_soaring_controller(soaring_controller)
{
AP_Param::setup_object_defaults(this, var_info);
}
@ -133,6 +135,9 @@ private:
// reference to const AP_Landing to access it's params
const AP_Landing &_landing;
// reference to const SoaringController to access its state
const SoaringController &_soaring_controller;
// TECS tuning parameters
AP_Float _hgtCompFiltOmega;