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AP_TECS: disable bad descent for soaring

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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
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5
libraries/AP_TECS/AP_TECS.cpp
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@ -751,6 +751,11 @@ void AP_TECS::_detect_bad_descent(void)
{ {
_flags.badDescent = false; _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) 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 <AP_SpdHgtControl/AP_SpdHgtControl.h>
#include <DataFlash/DataFlash.h> #include <DataFlash/DataFlash.h>
#include <AP_Landing/AP_Landing.h> #include <AP_Landing/AP_Landing.h>
#include <AP_Soaring/AP_Soaring.h>
class AP_TECS : public AP_SpdHgtControl { class AP_TECS : public AP_SpdHgtControl {
public: 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), _ahrs(ahrs),
aparm(parms), aparm(parms),
_landing(landing) _landing(landing),
_soaring_controller(soaring_controller)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
} }
@ -133,6 +135,9 @@ private:
// reference to const AP_Landing to access it's params // reference to const AP_Landing to access it's params
const AP_Landing &_landing; const AP_Landing &_landing;
// reference to const SoaringController to access its state
const SoaringController &_soaring_controller;
// TECS tuning parameters // TECS tuning parameters
AP_Float _hgtCompFiltOmega; AP_Float _hgtCompFiltOmega;