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FlightTaskTransition: keep high decelration when overshooting the transition target

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This commit is contained in:
Matthias Grob
2024-12-19 16:00:21 +01:00
committed by Silvan Fuhrer
parent 11d7dd41fd
commit 34bcc277a5
1 changed files with 5 additions and 1 deletions
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src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp
+5 -1
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@@ -120,8 +120,12 @@ float FlightTaskTransition::computeBackTranstionPitchSetpoint()
if (dist_to_target_in_moving_direction > FLT_EPSILON) { if (dist_to_target_in_moving_direction > FLT_EPSILON) {
// Backtransition target point is ahead of the vehicle, compute the desired deceleration // Backtransition target point is ahead of the vehicle, compute the desired deceleration
deceleration_setpoint = velocity_xy.norm_squared() / (2.f * dist_to_target_in_moving_direction); deceleration_setpoint = velocity_xy.norm_squared() / (2.f * dist_to_target_in_moving_direction);
deceleration_setpoint = math::min(deceleration_setpoint, 2.f * _param_vt_b_dec_mss);
} else {
deceleration_setpoint = 2.f * _param_vt_b_dec_mss;
} }
deceleration_setpoint = math::min(deceleration_setpoint, 2.f * _param_vt_b_dec_mss);
} }
// 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