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Improved THROTTLE manaement during landing

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2017-05-28 10:39:30 +02:00
parent df619eb551
commit df9bc75630
1 changed files with 10 additions and 2 deletions
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12
src/main/navigation/navigation_fixedwing.c
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@ -419,8 +419,8 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
} }
} }
// Speed controller - only apply in POS mode // Speed controller - only apply in POS mode when NOT NAV_CTL_LAND
if (navStateFlags & NAV_CTL_POS) { if (navStateFlags & NAV_CTL_POS && !(navStateFlags & NAV_CTL_LAND)) {
throttleCorrection += applyFixedWingMinSpeedController(currentTimeUs); throttleCorrection += applyFixedWingMinSpeedController(currentTimeUs);
throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection); throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection);
} }
@ -442,6 +442,14 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
uint16_t correctedThrottleValue = constrain(navConfig()->fw.cruise_throttle + throttleCorrection, navConfig()->fw.min_throttle, navConfig()->fw.max_throttle); uint16_t correctedThrottleValue = constrain(navConfig()->fw.cruise_throttle + throttleCorrection, navConfig()->fw.min_throttle, navConfig()->fw.max_throttle);
rcCommand[THROTTLE] = constrain(correctedThrottleValue, motorConfig()->minthrottle, motorConfig()->maxthrottle); rcCommand[THROTTLE] = constrain(correctedThrottleValue, motorConfig()->minthrottle, motorConfig()->maxthrottle);
} }
/*
* Then altitude is below landing slowdown min. altitude, set throttle to min_throttle
* TODO refactor conditions in this metod if logic is proven to be correct
*/
if (sensors(SENSOR_BARO) && posControl.actualState.pos.V.Z < navConfig()->general.land_slowdown_minalt) {
rcCommand[THROTTLE] = navConfig()->fw.min_throttle;
}
} }
/*----------------------------------------------------------- /*-----------------------------------------------------------