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FW: rework spoiler/flap control logic 

- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
    The flap settings for takeoff and landing are now specified relative to full range.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-04-27 16:58:33 +02:00
parent 21a2892f47
commit 4b8f93de5c
14 changed files with 167 additions and 105 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
View File

@ -25,6 +25,8 @@ param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_SPOILERS_LND 0.8
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_CRUISE 0.25

6
ROMFS/px4fmu_common/mixers-sitl/plane_sitl.main.mix
View File

@ -21,14 +21,16 @@ O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
# mixer for the right aileron
M: 1
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
# mixer for the elevator
M: 1

6
ROMFS/px4fmu_common/mixers/AAERTWF.main.mix
View File

@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@ -20,11 +20,11 @@ endpoints to suit.
M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
S: 0 5 -10000 -10000 0 -10000 10000
Elevator mixer
------------

6
ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix
View File

@ -11,7 +11,7 @@ to output 4, the wheel to output 5 and the flaps to output 6 and 7.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@ -21,11 +21,11 @@ endpoints to suit.
M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
S: 0 5 -10000 -10000 0 -10000 10000
V-tail mixers
-------------

8
ROMFS/px4fmu_common/mixers/AAVVTWFF_vtail.main.mix
View File

@ -9,20 +9,20 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
to output 4, the wheel to output 5 and the flaps to output 6 and 7.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up mechanically reversed.
M: 2
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 2
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
S: 0 5 -10000 -10000 0 -10000 10000
V-tail mixers
-------------

6
ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix
View File

@ -12,7 +12,7 @@ to output 4.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@ -22,11 +22,11 @@ endpoints to suit.
M: 2
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 6 10000 10000 0 -10000 10000
S: 1 5 10000 10000 0 -10000 10000
M: 2
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 6 -10000 -10000 0 -10000 10000
S: 1 5 -10000 -10000 0 -10000 10000
V-tail mixers

6
ROMFS/px4fmu_test/mixers/AAERTWF.main.mix
View File

@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@ -21,12 +21,12 @@ endpoints to suit.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
S: 0 5 -10000 -10000 0 -10000 10000
Elevator mixer
------------

8
ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix
View File

@ -9,9 +9,9 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
to output 4, the wheel to output 5 and the flaps to output 6 and 7.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@ -22,12 +22,12 @@ endpoints to suit.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
S: 0 5 -10000 -10000 0 -10000 10000
V-tail mixers
-------------

8
ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix
View File

@ -8,9 +8,9 @@ AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
to output 4.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@ -21,12 +21,12 @@ endpoints to suit.
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 6 10000 10000 0 -10000 10000
S: 1 5 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 6 -10000 -10000 0 -10000 10000
S: 1 5 -10000 -10000 0 -10000 10000
V-tail mixers

1
src/modules/fw_att_control/CMakeLists.txt
View File

@ -44,4 +44,5 @@ px4_add_module(
ecl_yaw_controller.cpp
DEPENDS
px4_work_queue
SlewRate
)

92
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
View File

@ -67,6 +67,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
_yaw_ctrl.set_max_rate(radians(_param_fw_acro_z_max.get()));
_rate_ctrl_status_pub.advertise();
_spoiler_setpoint_with_slewrate.setSlewRate(kSpoilerSlewRate);
_flaps_setpoint_with_slewrate.setSlewRate(kFlapSlewRate);
}
FixedwingAttitudeControl::~FixedwingAttitudeControl()
@ -382,11 +384,14 @@ void FixedwingAttitudeControl::Run()
/* if we are in rotary wing mode, do nothing */
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.is_vtol) {
_spoiler_setpoint_with_slewrate.setForcedValue(0.f);
_flaps_setpoint_with_slewrate.setForcedValue(0.f);
perf_end(_loop_perf);
return;
}
control_flaps(dt);
controlFlaps(dt);
controlSpoilers(dt);
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_rates_enabled) {
@ -498,8 +503,11 @@ void FixedwingAttitudeControl::Run()
}
/* add trim increment if flaps are deployed */
trim_roll += _flaps_applied * _param_fw_dtrim_r_flps.get();
trim_pitch += _flaps_applied * _param_fw_dtrim_p_flps.get();
trim_roll += _flaps_setpoint_with_slewrate.getState() * _param_fw_dtrim_r_flps.get();
trim_pitch += _flaps_setpoint_with_slewrate.getState() * _param_fw_dtrim_p_flps.get();
// add trim increment from spoilers (only pitch)
trim_pitch += _spoiler_setpoint_with_slewrate.getState() * _param_fw_dtrim_p_spoil.get();
/* Run attitude controllers */
if (_vcontrol_mode.flag_control_attitude_enabled) {
@ -645,11 +653,11 @@ void FixedwingAttitudeControl::Run()
_actuators.control[actuator_controls_s::INDEX_YAW] += _param_fw_rll_to_yaw_ff.get()
* constrain(_actuators.control[actuator_controls_s::INDEX_ROLL], -1.0f, 1.0f);
_actuators.control[actuator_controls_s::INDEX_FLAPS] = _flaps_applied;
_actuators.control[5] = _manual_control_setpoint.aux1;
_actuators.control[actuator_controls_s::INDEX_AIRBRAKES] = _flaperons_applied;
_actuators.control[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
_actuators.control[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();
_actuators.control[actuator_controls_s::INDEX_AIRBRAKES] = 0.f;
// FIXME: this should use _vcontrol_mode.landing_gear_pos in the future
_actuators.control[7] = _manual_control_setpoint.aux3;
_actuators.control[actuator_controls_s::INDEX_LANDING_GEAR] = _manual_control_setpoint.aux3;
/* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time();
@ -697,18 +705,16 @@ void FixedwingAttitudeControl::publishThrustSetpoint(const hrt_abstime &timestam
_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
}
void FixedwingAttitudeControl::control_flaps(const float dt)
void FixedwingAttitudeControl::controlFlaps(const float dt)
{
/* default flaps to center */
float flap_control = 0.0f;
/* map flaps by default to manual if valid */
if (PX4_ISFINITE(_manual_control_setpoint.flaps) && _vcontrol_mode.flag_control_manual_enabled
&& fabsf(_param_fw_flaps_scl.get()) > 0.01f) {
flap_control = _manual_control_setpoint.flaps * _param_fw_flaps_scl.get();
if (PX4_ISFINITE(_manual_control_setpoint.flaps) && _vcontrol_mode.flag_control_manual_enabled) {
flap_control = _manual_control_setpoint.flaps;
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_param_fw_flaps_scl.get()) > 0.01f) {
} else if (_vcontrol_mode.flag_control_auto_enabled) {
switch (_att_sp.apply_flaps) {
case vehicle_attitude_setpoint_s::FLAPS_OFF:
@ -716,50 +722,54 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
break;
case vehicle_attitude_setpoint_s::FLAPS_LAND:
flap_control = 1.0f * _param_fw_flaps_scl.get() * _param_fw_flaps_lnd_scl.get();
flap_control = _param_fw_flaps_lnd_scl.get();
break;
case vehicle_attitude_setpoint_s::FLAPS_TAKEOFF:
flap_control = 1.0f * _param_fw_flaps_scl.get() * _param_fw_flaps_to_scl.get();
flap_control = _param_fw_flaps_to_scl.get();
break;
}
}
// move the actual control value continuous with time, full flap travel in 1sec
if (fabsf(_flaps_applied - flap_control) > 0.01f) {
_flaps_applied += (_flaps_applied - flap_control) < 0 ? dt : -dt;
_flaps_setpoint_with_slewrate.update(flap_control, dt);
}
} else {
_flaps_applied = flap_control;
void FixedwingAttitudeControl::controlSpoilers(const float dt)
{
float spoiler_control = 0.f;
if (_vcontrol_mode.flag_control_manual_enabled) {
switch (_param_fw_spoilers_man.get()) {
case 0:
break;
case 1:
spoiler_control = PX4_ISFINITE(_manual_control_setpoint.flaps) ? _manual_control_setpoint.flaps : 0.f;
break;
case 2:
spoiler_control = PX4_ISFINITE(_manual_control_setpoint.aux1) ? _manual_control_setpoint.aux1 : 0.f;
break;
}
/* default flaperon to center */
float flaperon_control = 0.0f;
} else if (_vcontrol_mode.flag_control_auto_enabled) {
switch (_att_sp.apply_spoilers) {
case vehicle_attitude_setpoint_s::SPOILERS_OFF:
spoiler_control = 0.f;
break;
/* map flaperons by default to manual if valid */
if (PX4_ISFINITE(_manual_control_setpoint.aux2) && _vcontrol_mode.flag_control_manual_enabled
&& fabsf(_param_fw_flaperon_scl.get()) > 0.01f) {
case vehicle_attitude_setpoint_s::SPOILERS_LAND:
spoiler_control = _param_fw_spoilers_lnd.get();
break;
flaperon_control = 0.5f * (_manual_control_setpoint.aux2 + 1.0f) * _param_fw_flaperon_scl.get();
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_param_fw_flaperon_scl.get()) > 0.01f) {
if (_att_sp.apply_flaps == vehicle_attitude_setpoint_s::FLAPS_LAND) {
flaperon_control = _param_fw_flaperon_scl.get();
} else {
flaperon_control = 0.0f;
case vehicle_attitude_setpoint_s::SPOILERS_DESCEND:
spoiler_control = _param_fw_spoilers_desc.get();
break;
}
}
// move the actual control value continuous with time, full flap travel in 1sec
if (fabsf(_flaperons_applied - flaperon_control) > 0.01f) {
_flaperons_applied += (_flaperons_applied - flaperon_control) < 0 ? dt : -dt;
} else {
_flaperons_applied = flaperon_control;
}
_spoiler_setpoint_with_slewrate.update(spoiler_control, dt);
}
void FixedwingAttitudeControl::updateActuatorControlsStatus(float dt)

30
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
View File

@ -40,6 +40,7 @@
#include <lib/mathlib/mathlib.h>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <lib/slew_rate/SlewRate.hpp>
#include <matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
@ -78,6 +79,9 @@ using uORB::SubscriptionData;
using namespace time_literals;
static constexpr float kFlapSlewRate = 1.f; //minimum time from none to full flap deflection [s]
static constexpr float kSpoilerSlewRate = 1.f; //minimum time from none to full spoiler deflection [s]
class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public ModuleParams,
public px4::WorkItem
{
@ -139,9 +143,6 @@ private:
hrt_abstime _last_run{0};
float _flaps_applied{0.0f};
float _flaperons_applied{0.0f};
float _airspeed_scaling{1.0f};
bool _landed{true};
@ -156,6 +157,9 @@ private:
float _control_energy[4] {};
float _control_prev[3] {};
SlewRate<float> _spoiler_setpoint_with_slewrate;
SlewRate<float> _flaps_setpoint_with_slewrate;
DEFINE_PARAMETERS(
(ParamFloat<px4::params::FW_ACRO_X_MAX>) _param_fw_acro_x_max,
(ParamFloat<px4::params::FW_ACRO_Y_MAX>) _param_fw_acro_y_max,
@ -171,6 +175,7 @@ private:
(ParamBool<px4::params::FW_BAT_SCALE_EN>) _param_fw_bat_scale_en,
(ParamFloat<px4::params::FW_DTRIM_P_FLPS>) _param_fw_dtrim_p_flps,
(ParamFloat<px4::params::FW_DTRIM_P_SPOIL>) _param_fw_dtrim_p_spoil,
(ParamFloat<px4::params::FW_DTRIM_P_VMAX>) _param_fw_dtrim_p_vmax,
(ParamFloat<px4::params::FW_DTRIM_P_VMIN>) _param_fw_dtrim_p_vmin,
(ParamFloat<px4::params::FW_DTRIM_R_FLPS>) _param_fw_dtrim_r_flps,
@ -179,10 +184,11 @@ private:
(ParamFloat<px4::params::FW_DTRIM_Y_VMAX>) _param_fw_dtrim_y_vmax,
(ParamFloat<px4::params::FW_DTRIM_Y_VMIN>) _param_fw_dtrim_y_vmin,
(ParamFloat<px4::params::FW_FLAPERON_SCL>) _param_fw_flaperon_scl,
(ParamFloat<px4::params::FW_FLAPS_LND_SCL>) _param_fw_flaps_lnd_scl,
(ParamFloat<px4::params::FW_FLAPS_SCL>) _param_fw_flaps_scl,
(ParamFloat<px4::params::FW_FLAPS_TO_SCL>) _param_fw_flaps_to_scl,
(ParamFloat<px4::params::FW_SPOILERS_LND>) _param_fw_spoilers_lnd,
(ParamFloat<px4::params::FW_SPOILERS_DESC>) _param_fw_spoilers_desc,
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man,
(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
(ParamFloat<px4::params::FW_MAN_P_SC>) _param_fw_man_p_sc,
@ -230,7 +236,19 @@ private:
ECL_YawController _yaw_ctrl;
ECL_WheelController _wheel_ctrl;
void control_flaps(const float dt);
/**
* @brief Update flap control setting
*
* @param dt Current time delta [s]
*/
void controlFlaps(const float dt);
/**
* @brief Update spoiler control setting
*
* @param dt Current time delta [s]
*/
void controlSpoilers(const float dt);
void updateActuatorControlsStatus(float dt);

79
src/modules/fw_att_control/fw_att_control_params.c
View File

@ -457,22 +457,11 @@ PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
*/
PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
/**
* Scale factor for flaps
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);
/**
* Flaps setting during take-off
*
* Sets a fraction of full flaps (FW_FLAPS_SCL) during take-off
* Sets a fraction of full flaps during take-off.
* Also applies to flaperons if enabled in the mixer/allocation.
*
* @unit norm
* @min 0.0
@ -486,7 +475,8 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);
/**
* Flaps setting during landing
*
* Sets a fraction of full flaps (FW_FLAPS_SCL) during landing
* Sets a fraction of full flaps during landing.
* Also applies to flaperons if enabled in the mixer/allocation.
*
* @unit norm
* @min 0.0
@ -497,18 +487,6 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_LND_SCL, 1.0f);
/**
* Scale factor for flaperons
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_FLAPERON_SCL, 0.0f);
/**
* Airspeed mode
*
@ -735,3 +713,52 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_FLPS, 0.0f);
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(FW_DTRIM_P_FLPS, 0.0f);
/**
* Pitch trim increment for spoiler configuration
*
* This increment is added to the pitch trim whenever spoilers are fully deployed.
*
* @group FW Attitude Control
* @min -0.25
* @max 0.25
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(FW_DTRIM_P_SPOIL, 0.f);
/**
* Spoiler landing setting
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_SPOILERS_LND, 0.f);
/**
* Spoiler descend setting
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_SPOILERS_DESC, 0.f);
/**
* Spoiler input in manual flight
*
* Chose source for manual setting of spoilers in manual flight modes.
*
* @value 0 Disabled
* @value 1 Flaps channel
* @value 2 Aux1
* @group FW Attitude Control
*/
PARAM_DEFINE_INT32(FW_SPOILERS_MAN, 0);

14
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View File

@ -842,9 +842,6 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
_l1_control.set_dt(dt);
}
_att_sp.fw_control_yaw = false; // by default we don't want yaw to be contoller directly with rudder
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF; // by default we don't use flaps
/* save time when airplane is in air */
if (!_was_in_air && !_landed) {
_was_in_air = true;
@ -1356,7 +1353,8 @@ FixedwingPositionControl::control_auto_loiter(const hrt_abstime &now, const floa
// have to do this switch (which can cause significant altitude errors) close to the ground.
_tecs.set_height_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get());
airspeed_sp = _param_fw_lnd_airspd_sc.get() * _param_fw_airspd_min.get();
_att_sp.apply_flaps = true;
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_LAND;
}
float target_airspeed = get_auto_airspeed_setpoint(now, airspeed_sp, ground_speed, dt);
@ -1684,9 +1682,9 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const Vec
prev_wp(1) = pos_sp_curr.lon;
}
// apply full flaps for landings. this flag will also trigger the use of flaperons
// if they have been enabled using the corresponding parameter
// Apply flaps and spoilers for landing. Amount of deflection is handled in the FW attitdue controller
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_LAND;
// Enable tighter altitude control for landings
_tecs.set_height_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get());
@ -2391,6 +2389,10 @@ FixedwingPositionControl::Run()
set_control_mode_current(_local_pos.timestamp, _pos_sp_triplet.current.valid);
_att_sp.fw_control_yaw = false; // by default we don't want yaw to be contoller directly with rudder
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF; // by default we don't use flaps
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
switch (_control_mode_current) {
case FW_POSCTRL_MODE_AUTO: {
control_auto(_local_pos.timestamp, curr_pos, ground_speed, _pos_sp_triplet.previous, _pos_sp_triplet.current,