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APM: Fixed bug where landing_pitch wasnt initialized properly 

this adds a new LAND_PITCH_CD parameter to control the landing pitch
when an airspeed sensor is not being used
This commit is contained in:
Jeff Taylor 2012-07-17 23:06:23 -07:00 committed by Andrew Tridgell
parent d6e370886f
commit d02655ac56
3 changed files with 11 additions and 3 deletions
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4
ArduPlane/ArduPlane.pde
View File

@ -476,8 +476,6 @@ static bool takeoff_complete = true;
static bool land_complete; static bool land_complete;
// Altitude threshold to complete a takeoff command in autonomous modes. Centimeters // Altitude threshold to complete a takeoff command in autonomous modes. Centimeters
static int32_t takeoff_altitude; static int32_t takeoff_altitude;
// Pitch to hold during landing command in the no airspeed sensor case. Hundredths of a degree
static int16_t landing_pitch;
// Minimum pitch to hold during takeoff command execution. Hundredths of a degree // Minimum pitch to hold during takeoff command execution. Hundredths of a degree
static int16_t takeoff_pitch; static int16_t takeoff_pitch;
@ -1014,7 +1012,7 @@ static void update_current_flight_mode(void)
}else{ }else{
calc_nav_pitch(); // calculate nav_pitch just to use for calc_throttle calc_nav_pitch(); // calculate nav_pitch just to use for calc_throttle
calc_throttle(); // throttle based on altitude error calc_throttle(); // throttle based on altitude error
nav_pitch = landing_pitch; // pitch held constant nav_pitch = g.land_pitch_cd; // pitch held constant
} }
if (land_complete) { if (land_complete) {

3
ArduPlane/Parameters.h
View File

@ -69,6 +69,7 @@ public:
k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
k_param_reset_switch_chan, k_param_reset_switch_chan,
k_param_manual_level, k_param_manual_level,
k_param_land_pitch_cd,
// 110: Telemetry control // 110: Telemetry control
// //
@ -337,6 +338,7 @@ public:
AP_Int8 reset_switch_chan; AP_Int8 reset_switch_chan;
AP_Int8 manual_level; AP_Int8 manual_level;
AP_Int16 airspeed_cruise_cm; AP_Int16 airspeed_cruise_cm;
AP_Int16 land_pitch_cd;
AP_Int16 min_gndspeed; AP_Int16 min_gndspeed;
AP_Int16 pitch_trim; AP_Int16 pitch_trim;
AP_Int16 RTL_altitude; AP_Int16 RTL_altitude;
@ -456,6 +458,7 @@ public:
reset_switch_chan (0), reset_switch_chan (0),
manual_level (MANUAL_LEVEL), manual_level (MANUAL_LEVEL),
airspeed_cruise_cm (AIRSPEED_CRUISE_CM), airspeed_cruise_cm (AIRSPEED_CRUISE_CM),
land_pitch_cd (0),
min_gndspeed (MIN_GNDSPEED_CM), min_gndspeed (MIN_GNDSPEED_CM),
pitch_trim (0), pitch_trim (0),
RTL_altitude (ALT_HOLD_HOME_CM), RTL_altitude (ALT_HOLD_HOME_CM),

7
ArduPlane/Parameters.pde
View File

@ -65,6 +65,13 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
GSCALAR(manual_level, "MANUAL_LEVEL"), GSCALAR(manual_level, "MANUAL_LEVEL"),
// @Param: land_pitch_cd
// @DisplayName: Landing Pitch
// @Description: Used in autoland for planes without airspeed sensors in hundredths of a degree
// @Units: centi-Degrees
// @User: Advanced
GSCALAR(land_pitch_cd, "land_pitch_cd"),
// @Param: XTRK_GAIN_SC // @Param: XTRK_GAIN_SC
// @DisplayName: Crosstrack Gain // @DisplayName: Crosstrack Gain
// @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100) // @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100)