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Navigator: remove MIS_LTRMIN_ALT param, and use new param MIS_LND_ABRT_ALT for landing abort

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MIS_LTRMIN_ALt was used to limit the go-to altitude of a LOITER_TO_ALT (not the exit altitude,
but the altitude that the vehicle went to to fly to WP), and during landing abort to climb to
at least this altitude. The min entry altitude of LOITER_TO_ALT I remove with this commit, while
for the min alt during abort I added the new parameter MIS_LND_ABRT_ALT.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-22 13:46:25 -05:00
committed by Daniel Agar
parent ed39eb4672
commit 0941ae7579
25 changed files with 22 additions and 60 deletions
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src/modules/navigator/mission.cpp
+4 -5
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@@ -1436,15 +1436,14 @@ Mission::cruising_speed_sp_update()
void
Mission::do_abort_landing()
{
// Abort FW landing
// first climb out then loiter over intended landing location
// Abort FW landing, loiter above landing site in at least MIS_LND_ABRT_ALT
if (_mission_item.nav_cmd != NAV_CMD_LAND) {
return;
}
const float alt_landing = get_absolute_altitude_for_item(_mission_item);
const float alt_sp = math::max(alt_landing + _navigator->get_loiter_min_alt(),
const float alt_sp = math::max(alt_landing + _navigator->get_landing_abort_min_alt(),
_navigator->get_global_position()->alt);
// turn current landing waypoint into an indefinite loiter
@@ -1469,10 +1468,10 @@ Mission::do_abort_landing()
publish_navigator_mission_item(); // for logging
_navigator->set_position_setpoint_triplet_updated();
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %d m above landing.\t",
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %d m above landing waypoint.\t",
(int)(alt_sp - alt_landing));
events::send<float>(events::ID("mission_holding_above_landing"), events::Log::Info,
"Holding at {1:.0m_v} above landing", alt_sp - alt_landing);
"Holding at {1:.0m_v} above landing waypoint", alt_sp - alt_landing);
// reset mission index to start of landing
if (_land_start_available) {