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AP_TECS: migrate aparm "LAND_" params from plane to AP_Landing

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This commit is contained in:
Tom Pittenger 2016-11-23 01:35:43 -08:00 committed by Tom Pittenger
parent 15ec551990
commit 9035dcbbc5
2 changed files with 11 additions and 6 deletions
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8
libraries/AP_TECS/AP_TECS.cpp
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@ -981,7 +981,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
if (flight_stage == FLIGHT_LAND_FINAL) {
// in flare use min pitch from LAND_PITCH_CD
_PITCHminf = MAX(_PITCHminf, aparm.land_pitch_cd * 0.01f);
_PITCHminf = MAX(_PITCHminf, _landing.pitch_cd * 0.01f);
// and use max pitch from TECS_LAND_PMAX
if (_land_pitch_max != 0) {
@ -994,15 +994,15 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
// constrain the pitch in landing as we get close to the flare
// point. Use a simple linear limit from 15 meters after the
// landing point
float time_to_flare = (- hgt_afe / _climb_rate) - aparm.land_flare_sec;
float time_to_flare = (- hgt_afe / _climb_rate) - _landing.flare_sec;
if (time_to_flare < 0) {
// we should be flaring already
_PITCHminf = MAX(_PITCHminf, aparm.land_pitch_cd * 0.01f);
_PITCHminf = MAX(_PITCHminf, _landing.pitch_cd * 0.01f);
} else if (time_to_flare < timeConstant()*2) {
// smoothly move the min pitch to the flare min pitch over
// twice the time constant
float p = time_to_flare/(2*timeConstant());
float pitch_limit_cd = p*aparm.pitch_limit_min_cd + (1-p)*aparm.land_pitch_cd;
float pitch_limit_cd = p*aparm.pitch_limit_min_cd + (1-p)*_landing.pitch_cd;
#if 0
::printf("ttf=%.1f hgt_afe=%.1f _PITCHminf=%.1f pitch_limit=%.1f climb=%.1f\n",
time_to_flare, hgt_afe, _PITCHminf, pitch_limit_cd*0.01f, _climb_rate);

9
libraries/AP_TECS/AP_TECS.h
View File

@ -24,12 +24,14 @@
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
#include <DataFlash/DataFlash.h>
#include <AP_Landing/AP_Landing.h>
class AP_TECS : public AP_SpdHgtControl {
public:
AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, const AP_Landing &landing) :
_ahrs(ahrs),
aparm(parms)
aparm(parms),
_landing(landing)
{
AP_Param::setup_object_defaults(this, var_info);
}
@ -123,6 +125,9 @@ private:
// reference to the AHRS object
AP_AHRS &_ahrs;
// reference to const AP_Landing to access it's params
const AP_Landing &_landing;
const AP_Vehicle::FixedWing &aparm;
// TECS tuning parameters