add throttle_ramp_time parameter #13154
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bresch
requested changes
Oct 11, 2019
| @@ -195,7 +194,7 @@ float RunwayTakeoff::getThrottle(float tecsThrottle) | |||
| { | |||
| switch (_state) { | |||
| case RunwayTakeoffState::THROTTLE_RAMP: { | |||
| float throttle = hrt_elapsed_time(&_initialized_time) / (float)_throttle_ramp_time * | |||
| float throttle = (hrt_elapsed_time(&_initialized_time) / ((float)_param_rwto_ramp_time.get() * 1e6f)) * | |||
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| float throttle = (hrt_elapsed_time(&_initialized_time) / ((float)_param_rwto_ramp_time.get() * 1e6f)) * | |
| float throttle = hrt_elapsed_time(&_initialized_time) / (float)_param_rwto_ramp_time.get() * 1e6f * |
| @@ -79,7 +78,7 @@ void RunwayTakeoff::update(float airspeed, float alt_agl, | |||
|
|
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| switch (_state) { | |||
| case RunwayTakeoffState::THROTTLE_RAMP: | |||
| if (hrt_elapsed_time(&_initialized_time) > _throttle_ramp_time) { | |||
| if (hrt_elapsed_time(&_initialized_time) > (_param_rwto_ramp_time.get() * 1e6f)) { | |||
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Suggested change
| if (hrt_elapsed_time(&_initialized_time) > (_param_rwto_ramp_time.get() * 1e6f)) { | |
| if (hrt_elapsed_time(&_initialized_time) > _param_rwto_ramp_time.get() * 1e6f) { |
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add throttle_ramp_time parameter support fixed wing runway takeoff PX4#13146 remove overly protective brackets
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dagar
approved these changes
Oct 14, 2019
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add throttle_ramp_time parameter support fixed wing runway takeoff #13146