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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
2022-07-19 22:37:09 -04:00
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.hpp
+2 -1
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@@ -849,7 +849,8 @@ private:
(ParamFloat<px4::params::FW_LND_FL_SINK>) _param_fw_lnd_fl_sink,
(ParamFloat<px4::params::FW_LND_TD_OFF>) _param_fw_lnd_td_off,
(ParamInt<px4::params::FW_LND_NUDGE>) _param_fw_lnd_nudge,
(ParamInt<px4::params::FW_LND_ABORT>) _param_fw_lnd_abort
(ParamInt<px4::params::FW_LND_ABORT>) _param_fw_lnd_abort,
(ParamBool<px4::params::FW_LND_TER_REL>) _param_fw_lnd_ter_rel
)
};