dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Add throttle slew rate param

This commit is contained in:
Lorenz Meier 2014-08-01 14:39:24 +02:00
parent 2e4dff3fea
commit 32e32d92bd
2 changed files with 16 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -229,6 +229,7 @@ private:
float throttle_min;
float throttle_max;
float throttle_cruise;
float throttle_slew_max;
float throttle_land_max;
@ -273,6 +274,7 @@ private:
param_t throttle_min;
param_t throttle_max;
param_t throttle_cruise;
param_t throttle_slew_max;
param_t throttle_land_max;
@ -464,6 +466,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.roll_limit = param_find("FW_R_LIM");
_parameter_handles.throttle_min = param_find("FW_THR_MIN");
_parameter_handles.throttle_max = param_find("FW_THR_MAX");
_parameter_handles.throttle_slew_max = param_find("FW_THR_SLEW_MAX");
_parameter_handles.throttle_cruise = param_find("FW_THR_CRUISE");
_parameter_handles.throttle_land_max = param_find("FW_THR_LND_MAX");
@ -538,6 +541,7 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.throttle_min, &(_parameters.throttle_min));
param_get(_parameter_handles.throttle_max, &(_parameters.throttle_max));
param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
param_get(_parameter_handles.throttle_slew_max, &(_parameters.throttle_slew_max));
param_get(_parameter_handles.throttle_land_max, &(_parameters.throttle_land_max));
@ -576,6 +580,7 @@ FixedwingPositionControl::parameters_update()
_tecs.set_min_sink_rate(_parameters.min_sink_rate);
_tecs.set_max_sink_rate(_parameters.max_sink_rate);
_tecs.set_throttle_damp(_parameters.throttle_damp);
_tecs.set_throttle_slewrate(_parameters.throttle_slew_max);
_tecs.set_integrator_gain(_parameters.integrator_gain);
_tecs.set_vertical_accel_limit(_parameters.vertical_accel_limit);
_tecs.set_height_comp_filter_omega(_parameters.height_comp_filter_omega);

11
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -82,6 +82,17 @@ PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
*/
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
/**
* Throttle max slew rate
*
* Maximum slew rate for the commanded throttle
*
* @min 0.0
* @max 1.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
/**
* Negative pitch limit
*