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FW pos control: Implement hardcore throttle limiting in manual interaction mode

This commit is contained in:
Lorenz Meier 2015-05-28 23:14:06 -07:00
parent ad9b875aea
commit c99489ee9d
1 changed files with 14 additions and 2 deletions
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16
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -1389,13 +1389,19 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* if we assume that user is taking off then help by demanding altitude setpoint well above ground*/
do_takeoff_help();
/* throttle limiting */
throttle_max = _parameters.throttle_max;
if (fabsf(_manual.z) < 0.05f) {
throttle_max = 0.0f;
}
tecs_update_pitch_throttle(_hold_alt,
altctrl_airspeed,
eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
_parameters.throttle_max,
throttle_max,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
@ -1470,13 +1476,19 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* if we assume that user is taking off then help by demanding altitude setpoint well above ground*/
do_takeoff_help();
/* throttle limiting */
throttle_max = _parameters.throttle_max;
if (fabsf(_manual.z) < 0.05f) {
throttle_max = 0.0f;
}
tecs_update_pitch_throttle(_hold_alt,
altctrl_airspeed,
eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
_parameters.throttle_max,
throttle_max,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),