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fw: resolve an issue when the aircraft was climbing before landing

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Thomas Gubler
2014-05-25 15:45:01 +02:00
parent e87460b9f4
commit 0cddae02ab
1 changed files with 7 additions and 4 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+7 -4
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@@ -977,7 +977,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
float L_altitude_rel = landingslope.getLandingSlopeRelativeAltitude(L_wp_distance);
float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f;
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
@@ -1032,10 +1032,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* intersect glide slope:
* minimize speed to approach speed
* if current position is higher or within 10m of slope follow the glide slope
* if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope
* also if the system captures the slope it should stay
* on the slope (bool land_onslope)
* if current position is below slope -10m continue at previous wp altitude
* until the intersection with slope
* */
float altitude_desired_rel = relative_alt;
if (relative_alt > landing_slope_alt_rel_desired - 10.0f) {
if (relative_alt > landing_slope_alt_rel_desired - 10.0f || land_onslope) {
/* stay on slope */
altitude_desired_rel = landing_slope_alt_rel_desired;
if (!land_onslope) {
@@ -1044,7 +1047,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
} else {
/* continue horizontally */
altitude_desired_rel = math::max(relative_alt, L_altitude_rel);
altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : relative_alt;
}
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel,