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FlightTaskTransition: Comment why using invalid horizontal velocity works

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This commit is contained in:
Matthias Grob
2024-12-19 16:00:21 +01:00
committed by Silvan Fuhrer
parent 34bcc277a5
commit 1239f0aaed
1 changed files with 3 additions and 2 deletions
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src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp
+3 -2
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@@ -104,7 +104,8 @@ float FlightTaskTransition::computeBackTranstionPitchSetpoint()
{ {
const Vector2f position_xy{_position}; const Vector2f position_xy{_position};
const Vector2f velocity_xy{_velocity}; const Vector2f velocity_xy{_velocity};
const Vector2f velocity_xy_direction = velocity_xy.unit_or_zero(); const Vector2f velocity_xy_direction =
velocity_xy.unit_or_zero(); // Zero when velocity invalid Vector2f(NAN, NAN).unit_or_zero() == Vector2f(0.f, 0.f)
float deceleration_setpoint = _param_vt_b_dec_mss; float deceleration_setpoint = _param_vt_b_dec_mss;
@@ -130,7 +131,7 @@ float FlightTaskTransition::computeBackTranstionPitchSetpoint()
// Pitch up to reach a negative accel_in_flight_direction otherwise we decelerate too slow // Pitch up to reach a negative accel_in_flight_direction otherwise we decelerate too slow
const Vector2f acceleration_xy{_sub_vehicle_local_position.get().ax, _sub_vehicle_local_position.get().ay}; const Vector2f acceleration_xy{_sub_vehicle_local_position.get().ax, _sub_vehicle_local_position.get().ay};
const float deceleration = -acceleration_xy.dot(velocity_xy_direction); const float deceleration = -acceleration_xy.dot(velocity_xy_direction); // Zero when velocity invalid
const float deceleration_error = deceleration_setpoint - deceleration; const float deceleration_error = deceleration_setpoint - deceleration;
// Update back-transition deceleration error integrator // Update back-transition deceleration error integrator