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FW PositionController: circular landing: enable automatic landing aborts

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Enable automatic landing abort on timed out distance sensor reading also for
the circular landing. Do not enable the no-terrain timeout check, as, opposed
to the straight landing, we here don't know when to expect the distance sensor
to get valid.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-02-20 17:04:39 +01:00
parent 37b6dccda9
commit 485785d81d
3 changed files with 16 additions and 9 deletions
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src/modules/fw_path_navigation/FixedwingPositionControl.hpp
+4 -1
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@@ -756,9 +756,12 @@ private:
*
* @param now Current system time [us]
* @param land_point_altitude Altitude (AMSL) of the land point [m]
* @param abort_on_terrain_measurement_timeout Abort if distance to ground estimation doesn't get valid when we expect it to
* @param abort_on_terrain_timeout Abort if distance to ground estimation is invalid after being valid before
* @return Terrain altitude (AMSL) [m]
*/
float getLandingTerrainAltitudeEstimate(const hrt_abstime &now, const float land_point_altitude);
float getLandingTerrainAltitudeEstimate(const hrt_abstime &now, const float land_point_altitude,
const bool abort_on_terrain_measurement_timeout, const bool abort_on_terrain_timeout);
/**
* @brief Initializes landing states