Differences

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--- px4-analyse-position [2018/10/27 21:54]
natwati [airspeed_poll()]
+++ px4-analyse-position [2018/10/27 21:57]
natwati [calculate_target_airspeed()]
@@ 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