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Plane: Quadaplane: use land_at_climb_rate_cm only when landing

This commit is contained in:
Iampete1 2022-12-17 18:27:48 +00:00 committed by Randy Mackay
parent b6a59c0c13
commit e9a0844dc9
5 changed files with 14 additions and 14 deletions
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2
ArduPlane/mode_qhover.cpp
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@ -8,7 +8,7 @@ bool ModeQHover::_enter()
// set vertical speed and acceleration limits // set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z); pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z); pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
quadplane.set_climb_rate_cms(0, false); quadplane.set_climb_rate_cms(0);
quadplane.init_throttle_wait(); quadplane.init_throttle_wait();
return true; return true;

6
ArduPlane/mode_qloiter.cpp
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@ -103,13 +103,13 @@ void ModeQLoiter::run()
quadplane.ahrs.set_touchdown_expected(true); quadplane.ahrs.set_touchdown_expected(true);
} }
quadplane.set_climb_rate_cms(-descent_rate_cms, descent_rate_cms>0); pos_control->land_at_climb_rate_cm(-descent_rate_cms, descent_rate_cms>0);
quadplane.check_land_complete(); quadplane.check_land_complete();
} else if (plane.control_mode == &plane.mode_guided && quadplane.guided_takeoff) { } else if (plane.control_mode == &plane.mode_guided && quadplane.guided_takeoff) {
quadplane.set_climb_rate_cms(0, false); quadplane.set_climb_rate_cms(0);
} else { } else {
// update altitude target and call position controller // update altitude target and call position controller
quadplane.set_climb_rate_cms(quadplane.get_pilot_desired_climb_rate_cms(), false); quadplane.set_climb_rate_cms(quadplane.get_pilot_desired_climb_rate_cms());
} }
quadplane.run_z_controller(); quadplane.run_z_controller();
} }

2
ArduPlane/mode_qrtl.cpp
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@ -88,7 +88,7 @@ void ModeQRTL::run()
quadplane.get_weathervane_yaw_rate_cds()); quadplane.get_weathervane_yaw_rate_cds());
// climb at full WP nav speed // climb at full WP nav speed
quadplane.set_climb_rate_cms(quadplane.wp_nav->get_default_speed_up(), false); quadplane.set_climb_rate_cms(quadplane.wp_nav->get_default_speed_up());
quadplane.run_z_controller(); quadplane.run_z_controller();
ftype alt_diff; ftype alt_diff;

16
ArduPlane/quadplane.cpp
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@ -1003,9 +1003,9 @@ void QuadPlane::check_yaw_reset(void)
} }
} }
void QuadPlane::set_climb_rate_cms(float target_climb_rate_cms, bool force_descend) void QuadPlane::set_climb_rate_cms(float target_climb_rate_cms)
{ {
pos_control->land_at_climb_rate_cm(target_climb_rate_cms, force_descend); pos_control->input_vel_accel_z(target_climb_rate_cms, 0, false);
} }
/* /*
@ -1023,7 +1023,7 @@ void QuadPlane::hold_hover(float target_climb_rate_cms)
multicopter_attitude_rate_update(get_desired_yaw_rate_cds(false)); multicopter_attitude_rate_update(get_desired_yaw_rate_cds(false));
// call position controller // call position controller
set_climb_rate_cms(target_climb_rate_cms, false); set_climb_rate_cms(target_climb_rate_cms);
run_z_controller(); run_z_controller();
} }
@ -2790,7 +2790,7 @@ void QuadPlane::vtol_position_controller(void)
float zero = 0; float zero = 0;
pos_control->input_pos_vel_accel_z(target_z, zero, 0); pos_control->input_pos_vel_accel_z(target_z, zero, 0);
} else { } else {
set_climb_rate_cms(0, false); set_climb_rate_cms(0);
} }
break; break;
} }
@ -2804,7 +2804,7 @@ void QuadPlane::vtol_position_controller(void)
} }
} }
const float descent_rate_cms = landing_descent_rate_cms(height_above_ground); const float descent_rate_cms = landing_descent_rate_cms(height_above_ground);
set_climb_rate_cms(-descent_rate_cms, descent_rate_cms>0); pos_control->land_at_climb_rate_cm(-descent_rate_cms, descent_rate_cms>0);
break; break;
} }
@ -2952,10 +2952,10 @@ void QuadPlane::takeoff_controller(void)
vel_z = 0; vel_z = 0;
pos_control->input_pos_vel_accel_z(pos_z, vel_z, 0); pos_control->input_pos_vel_accel_z(pos_z, vel_z, 0);
} else { } else {
set_climb_rate_cms(vel_z, false); set_climb_rate_cms(vel_z);
} }
} else { } else {
set_climb_rate_cms(vel_z, false); set_climb_rate_cms(vel_z);
} }
run_z_controller(); run_z_controller();
@ -3000,7 +3000,7 @@ void QuadPlane::waypoint_controller(void)
true); true);
// climb based on altitude error // climb based on altitude error
set_climb_rate_cms(assist_climb_rate_cms(), false); set_climb_rate_cms(assist_climb_rate_cms());
run_z_controller(); run_z_controller();
} }

2
ArduPlane/quadplane.h
View File

@ -225,7 +225,7 @@ private:
void hold_stabilize(float throttle_in); void hold_stabilize(float throttle_in);
// set climb rate in position controller // set climb rate in position controller
void set_climb_rate_cms(float target_climb_rate_cms, bool force_descend); void set_climb_rate_cms(float target_climb_rate_cms);
// get pilot desired yaw rate in cd/s // get pilot desired yaw rate in cd/s
float get_pilot_input_yaw_rate_cds(void) const; float get_pilot_input_yaw_rate_cds(void) const;