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FWModeManger: remove throttle spike during flaring by waiting with height rate change

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2025-04-11 18:07:27 +02:00
parent 2600946172
commit 259e7d1d53
1 changed files with 8 additions and 2 deletions
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10
src/modules/fw_pos_control/FixedwingPositionControl.cpp
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@ -1356,8 +1356,14 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now,
const float flare_ramp_interpolator_sqrt = sqrtf(flare_ramp_interpolator);
const float height_rate_setpoint = flare_ramp_interpolator_sqrt * (-_param_fw_lnd_fl_sink.get()) +
(1.0f - flare_ramp_interpolator_sqrt) * _flare_states.initial_height_rate_setpoint;
// Use separate ramp for the altitude setpoint that's starting only when the other is finished
// to allow motor to be ramped down before height rate setpoint is adapted for flaring.
const float flare_hieght_rate_interpolator = math::constrain((seconds_since_flare_start -
_param_fw_lnd_fl_time.get()) / (_param_fw_lnd_fl_time.get()), 0.f, 1.f);
const float flare_hieght_rate_interpolator_sqrt = sqrt(flare_hieght_rate_interpolator);
const float height_rate_setpoint = flare_hieght_rate_interpolator_sqrt * (-_param_fw_lnd_fl_sink.get()) +
(1.0f - flare_hieght_rate_interpolator_sqrt) * _flare_states.initial_height_rate_setpoint;
float pitch_min_rad = flare_ramp_interpolator_sqrt * radians(_param_fw_lnd_fl_pmin.get()) +
(1.0f - flare_ramp_interpolator_sqrt) * radians(_param_fw_p_lim_min.get());