Differences

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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
@@ Line 303: / Line 303: @@
-==== Other Functions ====
+==== calculate_target_airspeed() ====
 <code c++ FixedwingPositionControl.hpp>
 float		calculate_target_airspeed(float airspeed_demand);
 </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).
+==== calculate_gndspeed_undershoot() ====
 <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.
+==== get_waypoint_heading_distance() ====
 <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
@@ 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.\\
 _hold_alt is used for all waypoints.
+==== update_desired_altitude() ====
 <code c++ FixedwingPositionControl.hpp>
 	bool		update_desired_altitude(float dt);
 </code>
 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() ====
 Not examined yet
 ==== control_landing() ====
-Not examined yet
-==== handle_command() ====
 Not examined yet
 ==== tecs_update_pitch_throttle() ====
 Not examined yet
-==== airspeed_poll() ====
-Not examined yet
 ===== Copyright =====
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