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px4-analyse-position [2018/10/27 21:56] natwati [Other Functions] |
px4-analyse-position [2018/10/27 21:57] natwati [calculate_target_airspeed()] |
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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). | ||
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+ | ==== 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 |