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reworked RTL cone implementation

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2021-01-04 11:58:16 +01:00
committed by Lorenz Meier
parent dad5ce1e41
commit 29c3ce6d5d
2 changed files with 25 additions and 34 deletions
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src/modules/navigator/rtl_params.c
+6 -5
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@@ -90,10 +90,11 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
/**
* Maximum horizontal distance from return destination, below which RTL_DESCEND_ALT is used as return altitude
* Horizontal radius from return point within which special rules for return mode apply.
*
* The return altitude will be calculated based on RTL_CONE_ANG parameter.
* The yaw setpoint will switch to the one defined by corresponding waypoint.
*
* If the vehicle is less than this horizontal distance from the return destination when return mode is activated it will ascend
* to RTL_DESCEND_ALT for the return journey (rather than the altitude set by RTL_RETURN_ALT and RTL_CONE_ANG).
*
* @unit m
* @min 0.5
@@ -102,7 +103,7 @@ PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
* @increment 0.5
* @group Return Mode
*/
PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 5.0f);
PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 10.0f);
/**
* Return type
@@ -134,7 +135,7 @@ PARAM_DEFINE_INT32(RTL_TYPE, 0);
* @value 90 Only climb to at least RTL_DESCEND_ALT above destination.
* @group Return Mode
*/
PARAM_DEFINE_INT32(RTL_CONE_ANG, 0);
PARAM_DEFINE_INT32(RTL_CONE_ANG, 45);
/**
* RTL precision land mode