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Fixed-wing autoland: ALWAYS flare when close to the ground, independently of the horizontal distance to the land WP. This avoids that we crash into the ground at negative pitch and guarantees that the flare always starts at the same altitude above ground. However, the motor shutoff still depends on the horizontal distance to the LAND WP, thus avoiding that the motor is shut off prematurely

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This commit is contained in:
Philipp Oettershagen
2018-06-16 12:32:38 +02:00
committed by Daniel Agar
parent ec4ccc1fcd
commit 08ceddaddb
1 changed files with 4 additions and 3 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+4 -3
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@@ -1461,8 +1461,7 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
* horizontal limit (with some tolerance)
* The horizontal limit is only applied when we are in front of the wp
*/
if (((_global_pos.alt < terrain_alt + _landingslope.flare_relative_alt()) &&
(wp_distance_save < _landingslope.flare_length() + 5.0f)) ||
if ((_global_pos.alt < terrain_alt + _landingslope.flare_relative_alt()) ||
_land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
/* land with minimal speed */
@@ -1479,7 +1478,9 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
_att_sp.fw_control_yaw = true;
}
if (_global_pos.alt < terrain_alt + _landingslope.motor_lim_relative_alt() || _land_motor_lim) {
if (((_global_pos.alt < terrain_alt + _landingslope.motor_lim_relative_alt()) &&
(wp_distance_save < _landingslope.flare_length() + 5.0f)) || // Only kill throttle when close to WP
_land_motor_lim) {
throttle_max = min(throttle_max, _parameters.throttle_land_max);
if (!_land_motor_lim) {