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Merge pull request #9428 from iNavFlight/MrD_Make-min-ground-speed-a-parameter

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Darren Lines 2023-12-06 23:33:02 +00:00 • committed by GitHub
commit b39a2dcde4
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6 changed files with 22 additions and 7 deletions
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7
src/main/navigation/navigation_fixedwing.c
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@ -60,9 +60,8 @@
#define NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ 2.0f
#define NAV_FW_BASE_ROLL_CUTOFF_FREQUENCY_HZ 10.0f
// If we are going slower than NAV_FW_MIN_VEL_SPEED_BOOST - boost throttle to fight against the wind
// If we are going slower than the minimum ground speed (navConfig()->general.min_ground_speed) - boost throttle to fight against the wind
#define NAV_FW_THROTTLE_SPEED_BOOST_GAIN 1.5f
#define NAV_FW_MIN_VEL_SPEED_BOOST 700.0f // 7 m/s
// If this is enabled navigation won't be applied if velocity is below 3 m/s
//#define NAV_FW_LIMIT_MIN_FLY_VELOCITY
@ -552,10 +551,10 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
previousTimePositionUpdate = currentTimeUs;
if (deltaMicrosPositionUpdate < MAX_POSITION_UPDATE_INTERVAL_US) {
float velThrottleBoost = (NAV_FW_MIN_VEL_SPEED_BOOST - posControl.actualState.velXY) * NAV_FW_THROTTLE_SPEED_BOOST_GAIN * US2S(deltaMicrosPositionUpdate);
float velThrottleBoost = ((navConfig()->general.min_ground_speed * 100.0f) - posControl.actualState.velXY) * NAV_FW_THROTTLE_SPEED_BOOST_GAIN * US2S(deltaMicrosPositionUpdate);
// If we are in the deadband of 50cm/s - don't update speed boost
if (fabsf(posControl.actualState.velXY - NAV_FW_MIN_VEL_SPEED_BOOST) > 50) {
if (fabsf(posControl.actualState.velXY - (navConfig()->general.min_ground_speed * 100.0f)) > 50) {
throttleSpeedAdjustment += velThrottleBoost;
}