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fw pos ctrl: refactor terrain estimate and land abort

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- improve terrain estiamte documentation
- add landing abort condition bitmasked parameter to choose abort conditions
- refactor terrain estimate getter with landing abort logic
- log abort status and inform user
- log flaring status
This commit is contained in:
Thomas Stastny
2022-07-19 22:37:09 -04:00
committed by Daniel Agar
parent c98153e044
commit 8f5b274e72
4 changed files with 102 additions and 39 deletions
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msg/position_controller_landing_status.msg
+8
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@@ -1,3 +1,11 @@
uint64 timestamp # [us] time since system start
float32 lateral_touchdown_offset # [m] lateral touchdown position offset manually commanded during landing
bool flaring # true if the aircraft is flaring
bool abort_landing # true if landing should be aborted
int32 abort_reason # the singular abort criterion which triggered the landing abort
# abort reasons
# corresponds to individual bits of param FW_LND_ABORT
uint8 kAbortReasonNone = 0
uint8 kAbortReasonTerrainNotFound = 1 # (1 << 0)
uint8 kAbortReasonTerrainTimeout = 2 # (1 << 1)