I was going threw the header file(v2.4), and this seemed not right to me:#define GPS_ERROR_SPEED_SETPOINT 3 // In -m/s; , in case of GPS failure the airplane will enter into stabilization mode only and will try to maintain the airspeed set here.when:#define FLY_BY_WIRE_SPEED_SETPOINT 20 //The airspeed you want to hold in fly by wire mode.and:#define AIRSPEED_CENTRAL 30 //Airspeed central point in m/s, normal flight... This value is the lowest airspeed that makes your plane flight steady.is GPS_ERROR_SPEED_SETPOINT was supposed to be be 30?thanks.
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and another question.
in Amain file, under navigation function there is the following line:
air_speed_hold=constrain(AIRSPEED_CENTRAL+alt_error*ALTITUDE_ERROR_AIRSPEED_PROPORTIONAL),ALTITUDE_ERROR_AIRSPEED_MIN,ALTITUDE_ERROR_AIRSPEED_MAX);
where:
air_speed_hold is the set point by which the throttle is operated
AIRSPEED_CENTRAL = 30 m/s
but -
ALTITUDE_ERROR_AIRSPEED_MAX also equals 30...
and -
ALTITUDE_ERROR_AIRSPEED_MIN = -10?? negative speed? is there a reverse in ardupilot? :)
Replies
in Amain file, under navigation function there is the following line:
air_speed_hold=constrain(AIRSPEED_CENTRAL+alt_error*ALTITUDE_ERROR_AIRSPEED_PROPORTIONAL),ALTITUDE_ERROR_AIRSPEED_MIN,ALTITUDE_ERROR_AIRSPEED_MAX);
where:
air_speed_hold is the set point by which the throttle is operated
AIRSPEED_CENTRAL = 30 m/s
but -
ALTITUDE_ERROR_AIRSPEED_MAX also equals 30...
and -
ALTITUDE_ERROR_AIRSPEED_MIN = -10?? negative speed? is there a reverse in ardupilot? :)
thanks!