C++ (Cpp) get_vertical_thrust_coeff示例

示例#1

文件： guidance_v.c 项目： DimaRU/paparazzi

void guidance_v_run(bool_t in_flight)
{

  // FIXME... SATURATIONS NOT TAKEN INTO ACCOUNT
  // AKA SUPERVISION and co
  guidance_v_thrust_coeff = get_vertical_thrust_coeff();
  if (in_flight) {
    int32_t vertical_thrust = (stabilization_cmd[COMMAND_THRUST] * guidance_v_thrust_coeff) >> INT32_TRIG_FRAC;
    gv_adapt_run(stateGetAccelNed_i()->z, vertical_thrust, guidance_v_zd_ref);
  } else {

示例#2

void guidance_v_run(bool in_flight)
{

  guidance_v_thrust_coeff = get_vertical_thrust_coeff();

  if (in_flight) {
    /* Only run adaptive throttle estimation if we are in flight and
     * the desired vertical velocity (zd) was updated (i.e. we ran hover_loop before).
     * This means that the estimation is not updated when using direct throttle commands.
     *
     * FIXME... SATURATIONS NOT TAKEN INTO ACCOUNT, AKA SUPERVISION and co
     */
    if (desired_zd_updated) {
      int32_t vertical_thrust = (stabilization_cmd[COMMAND_THRUST] * guidance_v_thrust_coeff) >> INT32_TRIG_FRAC;
      gv_adapt_run(stateGetAccelNed_i()->z, vertical_thrust, guidance_v_zd_ref);
    }
  } else {