forked from Archive/PX4-Autopilot
Merge pull request #1335 from PX4/landingtecsunderspeed
disable underspeed protection when landing also in tecs
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commit
c17c585c3e
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@ -252,6 +252,11 @@ void TECS::_update_height_demand(float demand, float state)
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void TECS::_detect_underspeed(void)
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{
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if (!_detect_underspeed_enabled) {
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_underspeed = false;
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return;
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}
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if (((_integ5_state < _TASmin * 0.9f) && (_throttle_dem >= _THRmaxf * 0.95f)) || ((_integ3_state < _hgt_dem_adj) && _underspeed)) {
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_underspeed = true;
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@ -66,6 +66,9 @@ public:
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_hgt_dem_prev(0.0f),
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_TAS_dem_adj(0.0f),
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_STEdotErrLast(0.0f),
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_underspeed(false),
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_detect_underspeed_enabled(true),
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_badDescent(false),
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_climbOutDem(false),
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_SPE_dem(0.0f),
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_SKE_dem(0.0f),
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@ -221,6 +224,10 @@ public:
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_speedrate_p = speedrate_p;
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}
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void set_detect_underspeed_enabled(bool enabled) {
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_detect_underspeed_enabled = enabled;
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}
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private:
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struct tecs_state _tecs_state;
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@ -323,6 +330,9 @@ private:
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// Underspeed condition
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bool _underspeed;
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// Underspeed detection enabled
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bool _detect_underspeed_enabled;
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// Bad descent condition caused by unachievable airspeed demand
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bool _badDescent;
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@ -1380,6 +1380,9 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
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_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
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limitOverride);
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} else {
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/* No underspeed protection in landing mode */
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_tecs.set_detect_underspeed_enabled(!(mode == TECS_MODE_LAND || mode == TECS_MODE_LAND_THROTTLELIM));
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/* Using tecs library */
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_tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp,
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_airspeed.indicated_airspeed_m_s, eas2tas,
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