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fw pos ctrl: absorb fw_lnd_rel_ter into fw_lnd_useter parameter

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This commit is contained in:
Thomas Stastny
2022-07-18 18:39:55 +02:00
committed by Daniel Agar
parent de3ac12ecd
commit 413ce8a3c4
3 changed files with 23 additions and 28 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+5 -7
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@@ -1686,13 +1686,10 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
_landing_approach_entrance_rel_alt);
const float terrain_alt = getLandingTerrainAltitudeEstimate(now, pos_sp_curr.alt);
float altitude_setpoint;
const float glide_slope_reference_alt = (_param_fw_lnd_useter.get() ==
TerrainEstimateUseOnLanding::kFollowTerrainRelativeLandingGlideSlope) ? terrain_alt : pos_sp_curr.alt;
// by default the landing waypoint altitude is used for the glide slope reference. this ensures a constant slope
// during the landing approach, despite any terrain bumps (think tall trees below the landing approach) disrupting
// the glide behavior. in this case, when FW_LND_USETER==1, the terrain estimate is only used to trigger the flare.
// however - the option still exists to make the glide slope terrain relative via FW_LND_TER_REL.
const float glide_slope_reference_alt = (_param_fw_lnd_ter_rel.get()) ? terrain_alt : pos_sp_curr.alt;
float altitude_setpoint;
if (_current_altitude > glide_slope_reference_alt + glide_slope_rel_alt) {
// descend to the glide slope
@@ -1706,6 +1703,7 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
// flare at the maximum of the altitude determined by the time before touchdown and a minimum flare altitude
const float flare_rel_alt = math::max(_param_fw_lnd_fl_time.get() * _local_pos.vz, _param_fw_lnd_flalt.get());
// the terrain estimate (if enabled) is always used to determine the flaring altitude
if ((_current_altitude < terrain_alt + flare_rel_alt) || _flaring) {
// flare and land with minimal speed
@@ -2655,7 +2653,7 @@ FixedwingPositionControl::calculateLandingApproachVector() const
float
FixedwingPositionControl::getLandingTerrainAltitudeEstimate(const hrt_abstime &now, const float land_point_altitude)
{
if (_param_fw_lnd_useter.get()) {
if (_param_fw_lnd_useter.get() > TerrainEstimateUseOnLanding::kDisableTerrainEstimation) {
if (_local_pos.dist_bottom_valid) {