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px4-firmware
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fw pos ctrl: set idle throttle in landed conditions 

also set the default idle throttle to zero as most PX4 applications use electric motors
This commit is contained in:
Thomas Stastny 2022-07-13 11:02:36 +02:00 committed by Daniel Agar
parent ceb432aacb
commit 217efcb12d
2 changed files with 11 additions and 6 deletions
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8
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -1722,7 +1722,7 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
/* set the attitude and throttle commands */ /* set the attitude and throttle commands */
// TECS has authority (though constrained) over pitch during flare, throttle is killed // TECS has authority (though constrained) over pitch during flare, throttle is hard set to idle
_att_sp.pitch_body = get_tecs_pitch(); _att_sp.pitch_body = get_tecs_pitch();
// flaring is just before touchdown, align the yaw as much as possible with the landing vector // flaring is just before touchdown, align the yaw as much as possible with the landing vector
@ -1731,7 +1731,9 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
// enable direct yaw control using rudder/wheel // enable direct yaw control using rudder/wheel
_att_sp.fw_control_yaw = true; _att_sp.fw_control_yaw = true;
_att_sp.thrust_body[0] = 0.0f; // idle throttle may be >0 for internal combustion engines
// normally set to zero for electric motors
_att_sp.thrust_body[0] = _param_fw_thr_idle.get();
} else { } else {
@ -1791,7 +1793,7 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
// enable direct yaw control using rudder/wheel // enable direct yaw control using rudder/wheel
_att_sp.fw_control_yaw = false; _att_sp.fw_control_yaw = false;
_att_sp.thrust_body[0] = (_landed) ? 0.0f : get_tecs_thrust(); _att_sp.thrust_body[0] = (_landed) ? _param_fw_thr_idle.get() : get_tecs_thrust();
} }
_tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get()); // reset after TECS calculation _tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get()); // reset after TECS calculation

9
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -338,8 +338,11 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
* *
* This is the minimum throttle while on the ground * This is the minimum throttle while on the ground
* *
* For aircraft with internal combustion engine this parameter should be set * For aircraft with internal combustion engines, this parameter should be set
* above desired idle rpm. * above the desired idle rpm. For electric motors, idle should typically be set
* to zero.
*
* Note that in automatic modes, "landed" conditions will engage idle throttle.
* *
* @unit norm * @unit norm
* @min 0.0 * @min 0.0
@ -348,7 +351,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
* @increment 0.01 * @increment 0.01
* @group FW L1 Control * @group FW L1 Control
*/ */
PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.15f); PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.0f);
/** /**
* Climbout Altitude difference * Climbout Altitude difference