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FixedWingPositionControl: better naming for manual airspeed setpoint 

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2022-07-07 13:06:00 +03:00 committed by Martina Rivizzigno
parent c2f5ffdfcd
commit b7d6e646cc
2 changed files with 14 additions and 12 deletions
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24
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -144,7 +144,6 @@ FixedwingPositionControl::parameters_update()
_tecs.set_speed_derivative_time_constant(_param_tas_rate_time_const.get()); _tecs.set_speed_derivative_time_constant(_param_tas_rate_time_const.get());
_tecs.set_seb_rate_ff_gain(_param_seb_rate_ff.get()); _tecs.set_seb_rate_ff_gain(_param_seb_rate_ff.get());
// Landing slope // Landing slope
/* check if negative value for 2/3 of flare altitude is set for throttle cut */ /* check if negative value for 2/3 of flare altitude is set for throttle cut */
float land_thrust_lim_alt_relative = _param_fw_lnd_tlalt.get(); float land_thrust_lim_alt_relative = _param_fw_lnd_tlalt.get();
@ -251,16 +250,19 @@ FixedwingPositionControl::vehicle_command_poll()
abort_landing(true); abort_landing(true);
} }
} else if ((vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED) } else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED) {
&& (static_cast<uint8_t>(vehicle_command.param1 + .5f) == vehicle_command_s::SPEED_TYPE_AIRSPEED)
&& (vehicle_command.param2 > 0.f)) {
if (_control_mode_current == FW_POSCTRL_MODE_AUTO) { if ((static_cast<uint8_t>(vehicle_command.param1 + .5f) == vehicle_command_s::SPEED_TYPE_AIRSPEED)) {
_pos_sp_triplet.current.cruising_speed = vehicle_command.param2; if (vehicle_command.param2 > FLT_EPSILON) { // param2 is an equivalent airspeed setpoint
if (_control_mode_current == FW_POSCTRL_MODE_AUTO) {
_pos_sp_triplet.current.cruising_speed = vehicle_command.param2;
} else if (_control_mode_current == FW_POSCTRL_MODE_MANUAL_ALTITUDE } else if (_control_mode_current == FW_POSCTRL_MODE_MANUAL_ALTITUDE
|| _control_mode_current == FW_POSCTRL_MODE_MANUAL_POSITION) { || _control_mode_current == FW_POSCTRL_MODE_MANUAL_POSITION) {
_commanded_airspeed_setpoint = vehicle_command.param2; _commanded_manual_airspeed_setpoint = vehicle_command.param2;
}
}
} }
} }
@ -406,8 +408,8 @@ FixedwingPositionControl::get_manual_airspeed_setpoint()
(_manual_control_setpoint_for_airspeed * 2 - 1); (_manual_control_setpoint_for_airspeed * 2 - 1);
} }
} else if (PX4_ISFINITE(_commanded_airspeed_setpoint)) { } else if (PX4_ISFINITE(_commanded_manual_airspeed_setpoint)) {
altctrl_airspeed = _commanded_airspeed_setpoint; altctrl_airspeed = _commanded_manual_airspeed_setpoint;
} }
return altctrl_airspeed; return altctrl_airspeed;

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

@ -329,7 +329,7 @@ private:
float _manual_control_setpoint_for_airspeed{0.0f}; float _manual_control_setpoint_for_airspeed{0.0f};
// [m/s] airspeed setpoint for manual modes commanded via MAV_CMD_DO_CHANGE_SPEED // [m/s] airspeed setpoint for manual modes commanded via MAV_CMD_DO_CHANGE_SPEED
float _commanded_airspeed_setpoint{NAN}; float _commanded_manual_airspeed_setpoint{NAN};
hrt_abstime _time_in_fixed_bank_loiter{0}; // [us] hrt_abstime _time_in_fixed_bank_loiter{0}; // [us]