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FW Position Control: also run airspeed adaptions based on wind, accelerated stall etc. in manual modes 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-11-18 11:23:35 +01:00
parent cec16dd9b3
commit f2ca9387cf
2 changed files with 14 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View File

@ -403,7 +403,7 @@ FixedwingPositionControl::get_manual_airspeed_setpoint()
}
float
FixedwingPositionControl::get_auto_airspeed_setpoint(const float control_interval, float calibrated_airspeed_setpoint,
FixedwingPositionControl::adapt_airspeed_setpoint(const float control_interval, float calibrated_airspeed_setpoint,
float calibrated_min_airspeed, const Vector2f &ground_speed)
{
if (!PX4_ISFINITE(calibrated_airspeed_setpoint) || calibrated_airspeed_setpoint <= FLT_EPSILON) {
@ -1151,7 +1151,7 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
}
}
float target_airspeed = get_auto_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed,
float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed,
_param_fw_airspd_min.get(), ground_speed);
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
@ -1225,7 +1225,7 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co
Vector2f target_velocity{pos_sp_curr.vx, pos_sp_curr.vy};
_target_bearing = wrap_pi(atan2f(target_velocity(1), target_velocity(0)));
float target_airspeed = get_auto_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed,
float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed,
_param_fw_airspd_min.get(), ground_speed);
if (_param_fw_use_npfg.get()) {
@ -1327,7 +1327,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
}
float target_airspeed = get_auto_airspeed_setpoint(control_interval, airspeed_sp, _param_fw_airspd_min.get(),
float target_airspeed = adapt_airspeed_setpoint(control_interval, airspeed_sp, _param_fw_airspd_min.get(),
ground_speed);
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
@ -1423,7 +1423,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
adjusted_min_airspeed = takeoff_airspeed;
}
float target_airspeed = get_auto_airspeed_setpoint(control_interval, takeoff_airspeed, adjusted_min_airspeed,
float target_airspeed = adapt_airspeed_setpoint(control_interval, takeoff_airspeed, adjusted_min_airspeed,
ground_speed);
// yaw control is disabled once in "taking off" state
@ -1557,7 +1557,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
if (_launch_detection_state != LAUNCHDETECTION_RES_NONE) {
/* Launch has been detected, hence we have to control the plane. */
float target_airspeed = get_auto_airspeed_setpoint(control_interval, _param_fw_airspd_trim.get(),
float target_airspeed = adapt_airspeed_setpoint(control_interval, _param_fw_airspd_trim.get(),
_param_fw_airspd_min.get(), ground_speed);
if (_param_fw_use_npfg.get()) {
@ -1670,7 +1670,7 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
adjusted_min_airspeed = airspeed_land;
}
float target_airspeed = get_auto_airspeed_setpoint(control_interval, airspeed_land, adjusted_min_airspeed,
float target_airspeed = adapt_airspeed_setpoint(control_interval, airspeed_land, adjusted_min_airspeed,
ground_speed);
// calculate the altitude setpoint based on the landing glide slope
@ -1867,7 +1867,8 @@ FixedwingPositionControl::control_manual_altitude(const float control_interval,
{
updateManualTakeoffStatus();
const float calibrated_airspeed_sp = get_manual_airspeed_setpoint();
const float calibrated_airspeed_sp = adapt_airspeed_setpoint(control_interval, get_manual_airspeed_setpoint(),
_param_fw_airspd_min.get(), ground_speed);
const float height_rate_sp = getManualHeightRateSetpoint();
// TECS may try to pitch down to gain airspeed if we underspeed, constrain the pitch when underspeeding if we are
@ -1913,7 +1914,8 @@ FixedwingPositionControl::control_manual_position(const float control_interval,
{
updateManualTakeoffStatus();
float calibrated_airspeed_sp = get_manual_airspeed_setpoint();
float calibrated_airspeed_sp = adapt_airspeed_setpoint(control_interval, get_manual_airspeed_setpoint(),
_param_fw_airspd_min.get(), ground_speed);
const float height_rate_sp = getManualHeightRateSetpoint();
// TECS may try to pitch down to gain airspeed if we underspeed, constrain the pitch when underspeeding if we are

6
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
View File

@ -633,7 +633,7 @@ private:
float get_manual_airspeed_setpoint();
/**
* @brief Returns a calibrated airspeed setpoint for auto modes.
* @brief Returns am adapted calibrated airspeed setpoint
*
* Adjusts the setpoint for wind, accelerated stall, and slew rates.
*
@ -643,8 +643,8 @@ private:
* @param ground_speed Vehicle ground velocity vector (NE) [m/s]
* @return Adjusted calibrated airspeed setpoint [m/s]
*/
float get_auto_airspeed_setpoint(const float control_interval, float calibrated_airspeed_setpoint,
float calibrated_min_airspeed, const Vector2f &ground_speed);
float adapt_airspeed_setpoint(const float control_interval, float calibrated_airspeed_setpoint,
float calibrated_min_airspeed, const Vector2f &ground_speed);
void reset_takeoff_state();
void reset_landing_state();