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Merge pull request #7364 from breadoven/abo_FW_emerg_landing_descent_rate

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Fixed wing emergency landing vertical rate control addition
This commit is contained in:
Paweł Spychalski 2021-09-21 08:55:00 +02:00 • committed by GitHub
commit b51cb7739a
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1 changed files with 15 additions and 7 deletions
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16
src/main/navigation/navigation_fixedwing.c
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@ -612,13 +612,21 @@ bool isFixedWingLandingDetected(void)
/*-----------------------------------------------------------
* FixedWing emergency landing
*-----------------------------------------------------------*/
void applyFixedWingEmergencyLandingController(void)
void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
{
// FIXME: Use altitude controller if available (similar to MC code)
rcCommand[ROLL] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_roll_angle, pidProfile()->max_angle_inclination[FD_ROLL]);
rcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
rcCommand[YAW] = -pidRateToRcCommand(failsafeConfig()->failsafe_fw_yaw_rate, currentControlRateProfile->stabilized.rates[FD_YAW]);
rcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
if (posControl.flags.estAltStatus >= EST_USABLE) {
updateClimbRateToAltitudeController(-1.0f * navConfig()->general.emerg_descent_rate, ROC_TO_ALT_NORMAL);
applyFixedWingAltitudeAndThrottleController(currentTimeUs);
int16_t pitchCorrection = constrain(posControl.rcAdjustment[PITCH], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle));
rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, pidProfile()->max_angle_inclination[FD_PITCH]);
} else {
rcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
}
}
/*-----------------------------------------------------------
@ -641,7 +649,7 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
applyFixedWingLaunchController(currentTimeUs);
}
else if (navStateFlags & NAV_CTL_EMERG) {
applyFixedWingEmergencyLandingController();
applyFixedWingEmergencyLandingController(currentTimeUs);
}
else {
#ifdef NAV_FW_LIMIT_MIN_FLY_VELOCITY