Add support for waypoint speed and hold time configuration

Firmament-Autopilot · Jan 31, 2024 · 2fbda07 · 2fbda07
1 parent cc04970
commit 2fbda07
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Showing 8 changed files with 3 additions and 347 deletions.
diff --git a/...4ea3-994a-c68b17dc50bf.type.Reference.xml → ...4cce-95e2-3f192b1dc65b.type.Reference.xml b/...4ea3-994a-c68b17dc50bf.type.Reference.xml → ...4cce-95e2-3f192b1dc65b.type.Reference.xml
diff --git a/bus/Commander_In_Bus.m b/bus/Commander_In_Bus.m
@@ -23,6 +23,7 @@
 {'sp_waypoint', 3, 'single', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
 {'cur_waypoint', 3, 'single', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
 {'offboard_psi_0', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], '', sprintf('The psi value when offboard mode entered, \nwhich is used for FRAME_LOCAL_FRD')}; ...
+{'set_speed', 1, 'single', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('m/s'), sprintf('Set speed for cuise flight')}; ...
     } ...
   } ...
 }'; 

diff --git a/bus/Extended_States_Bus.m b/bus/Extended_States_Bus.m
diff --git a/bus/enum/NAV_Cmd.m b/bus/enum/NAV_Cmd.m
@@ -6,6 +6,7 @@
         Return(20)
         Land(21)
         Takeoff(22)
+        SetSpeed(178)
     end
 
     methods (Static)

diff --git a/model/FMS/Base-FMS/FMS.slx b/model/FMS/Base-FMS/FMS.slx
diff --git a/model/FMS/Base-FMS/fms_model_init.m b/model/FMS/Base-FMS/fms_model_init.m
@@ -26,7 +26,7 @@
 FMS_PARAM_VALUE.YAW_P = single(2.5);
 FMS_PARAM_VALUE.YAW_RATE_LIM = single(pi/3);
 FMS_PARAM_VALUE.ROLL_PITCH_LIM = single(pi/6);
-FMS_PARAM_VALUE.L1 = single(10);
+FMS_PARAM_VALUE.L1 = single(15);
 FMS_PARAM_VALUE.CRUISE_SPEED = single(5);
 FMS_PARAM_VALUE.CRUISE_ACC = single(5);
 FMS_PARAM_VALUE.TAKEOFF_H = single(1.5);

diff --git a/model/FMS/FW-FMS/FMS.slx b/model/FMS/FW-FMS/FMS.slx
diff --git a/simulation/MILSIM.slx b/simulation/MILSIM.slx