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| Both sides previous revision Previous revision Next revision | Previous revision | ||
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px4-analyse-position [2018/10/26 20:47] natwati [control_position()] |
px4-analyse-position [2018/10/27 22:02] (current) natwati |
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| - | ==== Other Functions ==== | + | ==== calculate_target_airspeed() ==== |
| <code c++ FixedwingPositionControl.hpp> | <code c++ FixedwingPositionControl.hpp> | ||
| float calculate_target_airspeed(float airspeed_demand); | float calculate_target_airspeed(float airspeed_demand); | ||
| </code> | </code> | ||
| - | A previously calculated _groundspeed_undershoot value is added to the airspeed. The returned airspeed is constrained to a value between FW_AIRSPD_MAX and an increased FW_AIRSPD_MIN. FW_AIRSPEED_MIN is increased to ensure the increased demand for lift if plane (current _att_sp) has a roll angle is met. | + | A previously calculated _groundspeed_undershoot value is added to the airspeed. The returned airspeed is constrained to a value between FW_AIRSPD_MAX and an increased FW_AIRSPD_MIN. FW_AIRSPEED_MIN is increased to ensure the increased demand for lift if the plane (current _att_sp) has a roll angle is met. This increase is only applied if airspeed is vaild (_airspeed_valid). Ìý |
| + | Ìý | ||
| + | ==== calculate_gndspeed_undershoot() ==== | ||
| <code c++ FixedwingPositionControl.hpp> | <code c++ FixedwingPositionControl.hpp> | ||
| Line 314: | Line 316: | ||
| The minimum desired ground speed is the minimum airspeed projected on to the ground using the altitude and horizontal difference between the waypoints if available. _groundspeed_undershoot ensures that a plane (as long as its throttle capability is not exceeded) travels towards a waypoint (and is not pushed more and more away by wind). Not countering this would lead to a fly-away. | The minimum desired ground speed is the minimum airspeed projected on to the ground using the altitude and horizontal difference between the waypoints if available. _groundspeed_undershoot ensures that a plane (as long as its throttle capability is not exceeded) travels towards a waypoint (and is not pushed more and more away by wind). Not countering this would lead to a fly-away. | ||
| + | ==== get_waypoint_heading_distance() ==== | ||
| <code c++ FixedwingPositionControl.hpp> | <code c++ FixedwingPositionControl.hpp> | ||
| static constexpr float HDG_HOLD_DIST_NEXT = 3000.0f; // initial distance of waypoint in front of plane in heading hold mode | static constexpr float HDG_HOLD_DIST_NEXT = 3000.0f; // initial distance of waypoint in front of plane in heading hold mode | ||
| Line 323: | Line 326: | ||
| If flag_init is false the passed waypoint_next and waypoint_prev are used to generate a line. The waypoint_prev is generated on the line 1100 meters behind waypoint_next and the new waypoint_next is generated on the line 4000 meters ahead of the old waypoint_next.\\ | If flag_init is false the passed waypoint_next and waypoint_prev are used to generate a line. The waypoint_prev is generated on the line 1100 meters behind waypoint_next and the new waypoint_next is generated on the line 4000 meters ahead of the old waypoint_next.\\ | ||
| _hold_alt is used for all waypoints. | _hold_alt is used for all waypoints. | ||
| + | |||
| + | ==== update_desired_altitude() ==== | ||
| <code c++ FixedwingPositionControl.hpp> | <code c++ FixedwingPositionControl.hpp> | ||
| bool update_desired_altitude(float dt); | bool update_desired_altitude(float dt); | ||
| </code> | </code> | ||
| Update desired altitude base on user pitch stick input based on _manual.x (from manual_control_setpoint) and a dt (delta time) argument. | Update desired altitude base on user pitch stick input based on _manual.x (from manual_control_setpoint) and a dt (delta time) argument. | ||
| + | |||
| + | ==== handle_command() ==== | ||
| + | This funcion solely handles the VEHICLE_CMD_DO_GO_AROUND. | ||
| + | It abort landing before point of no return (horizontal and vertical) by setting _fw_pos_ctrl_status.abort_landing to true. | ||
| + | |||
| + | |||
| + | ==== airspeed_poll() ==== | ||
| + | |||
| + | Updates the airspeed (_airspeed) to the indicated airspeed published (ORB airspeed). | ||
| + | If there was no airspeed update for more then a seconde _airspeed_valid is set to false. | ||
| + | |||
| + | If the true airspeed is larger than the indicated airspeed _eas2tas is updated which is used when calling _tecs.update_pitch_throttle(). | ||
| + | |||
| + | TECS is notified if airspeed is still valid by calling _tecs.enable_airspeed(_airspeed_valid). | ||
| ==== control_takeoff() ==== | ==== control_takeoff() ==== | ||
| Not examined yet | Not examined yet | ||
| ==== control_landing() ==== | ==== control_landing() ==== | ||
| - | Not examined yet | ||
| - | ==== handle_command() ==== | ||
| Not examined yet | Not examined yet | ||
| ==== tecs_update_pitch_throttle() ==== | ==== tecs_update_pitch_throttle() ==== | ||
| Not examined yet | Not examined yet | ||
| - | ==== airspeed_poll() ==== | ||
| - | Not examined yet | ||
| ===== Copyright ===== | ===== Copyright ===== | ||
| - | |||
| The following copyright applies to all sourcecode shown on this page: | The following copyright applies to all sourcecode shown on this page: | ||