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TECS: set landing params as private and use accessors

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Tom Pittenger 2016-11-23 02:18:05 -08:00 committed by Tom Pittenger
parent fe4cd7bbbd
commit c7bbb6998a
1 changed files with 4 additions and 4 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, _landing.pitch_cd * 0.01f);
_PITCHminf = MAX(_PITCHminf, _landing.get_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) - _landing.flare_sec;
float time_to_flare = (- hgt_afe / _climb_rate) - _landing.get_flare_sec();
if (time_to_flare < 0) {
// we should be flaring already
_PITCHminf = MAX(_PITCHminf, _landing.pitch_cd * 0.01f);
_PITCHminf = MAX(_PITCHminf, _landing.get_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)*_landing.pitch_cd;
float pitch_limit_cd = p*aparm.pitch_limit_min_cd + (1-p)*_landing.get_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);