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Merge pull request #1338 from PX4/throttle_limit_simplified 

Simplify throttle limiting on approach
This commit is contained in:
Thomas Gubler 2014-08-31 22:34:32 +02:00
parent 84d26185df 22d2e26b9c
commit 2780dc39ce
2 changed files with 15 additions and 4 deletions
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6
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -569,6 +569,12 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));
param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative));
/* check if negative value for 2/3 of flare altitude is set for throttle cut */
if (_parameters.land_thrust_lim_alt_relative < 0.0f) {
_parameters.land_thrust_lim_alt_relative = 0.66f * _parameters.land_flare_alt_relative;
}
param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance));
param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt));

13
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -379,18 +379,23 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
/**
* Landing flare altitude (relative)
* Landing flare altitude (relative to landing altitude)
*
* @unit meter
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f);
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f);
/**
* Landing throttle limit altitude (relative)
* Landing throttle limit altitude (relative landing altitude)
*
* Default of -1.0f lets the system default to applying throttle
* limiting at 2/3 of the flare altitude.
*
* @unit meter
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f);
PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f);
/**
* Landing heading hold horizontal distance