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fw pos ctrl: add option to fix the glide slope reference altitude

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- new param, FW_LND_TER_REL
- fixing the glide slope helps keep the landing glide behavior steady (avoiding bumps in the altitude setpoint from e.g. trees)
- flare is still triggered via the distance sensor, if enabled by FW_LND_USETERR
This commit is contained in:
Thomas Stastny
2022-07-18 08:32:43 +02:00
committed by Daniel Agar
parent c60b215574
commit 888e72661f
3 changed files with 24 additions and 3 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+8 -2
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@@ -1681,9 +1681,15 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
const float terrain_alt = getLandingTerrainAltitudeEstimate(now, pos_sp_curr.alt);
float altitude_setpoint;
if (_current_altitude > terrain_alt + glide_slope_rel_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;
if (_current_altitude > glide_slope_reference_alt + glide_slope_rel_alt) {
// descend to the glide slope
altitude_setpoint = terrain_alt + glide_slope_rel_alt;
altitude_setpoint = glide_slope_reference_alt + glide_slope_rel_alt;
} else {
// continue horizontally