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FW Position control: remove param FW_CLMBOUT_DIFF and instead use hardcoded 10m for clearing aborted flag 

Use kClearanceAltitudeBuffer for it, which is also used to ensure that during takeoff an
altitude setpoint above the clearance altitdue is set.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-11-02 15:10:57 +01:00 committed by Daniel Agar
parent 0941ae7579
commit 94d44c40a7
3 changed files with 1 additions and 20 deletions
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2
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View File

@ -1363,7 +1363,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
float alt_sp = pos_sp_curr.alt;
if (_landing_abort_status) {
if (pos_sp_curr.alt - _current_altitude < _param_fw_clmbout_diff.get()) {
if (pos_sp_curr.alt - _current_altitude < kClearanceAltitudeBuffer) {
// aborted landing complete, normal loiter over landing point
updateLandingAbortStatus(position_controller_landing_status_s::NOT_ABORTED);

2
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
View File

@ -783,8 +783,6 @@ private:
(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
(ParamFloat<px4::params::FW_CLMBOUT_DIFF>) _param_fw_clmbout_diff,
(ParamFloat<px4::params::FW_GND_SPD_MIN>) _param_fw_gnd_spd_min,
(ParamFloat<px4::params::FW_L1_DAMPING>) _param_fw_l1_damping,

17
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -356,23 +356,6 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
*/
PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.0f);
/**
* Climbout Altitude difference
*
* If the altitude error exceeds this parameter, the system will climb out
* with maximum throttle and minimum airspeed until it is closer than this
* distance to the desired altitude. Mostly used for takeoff waypoints / modes.
* Set to 0 to disable climbout mode (not recommended).
*
* @unit m
* @min 0.0
* @max 150.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 10.0f);
/**
* Maximum landing slope angle
*