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px4-analyse-position [2018/10/27 21:56] natwati [Other Functions] |
px4-analyse-position [2018/10/27 22:02] natwati [handle_command()] |
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| </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 the plane (current _att_sp) has a roll angle is met. This increase is only applied if airspeed is vaild (_airspeed_valid). | 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). | ||
| + | |||
| + | ==== calculate_gndspeed_undershoot() ==== | ||
| <code c++ FixedwingPositionControl.hpp> | <code c++ FixedwingPositionControl.hpp> | ||
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| 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 | ||
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| 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); | ||
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| Not examined yet | Not examined yet | ||
| ==== handle_command() ==== | ==== handle_command() ==== | ||
| - | Not examined yet | + | 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. | ||
| ==== tecs_update_pitch_throttle() ==== | ==== tecs_update_pitch_throttle() ==== | ||
| Not examined yet | Not examined yet | ||