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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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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+18 -6
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@@ -117,10 +117,12 @@ static constexpr float HDG_HOLD_YAWRATE_THRESH = 0.15f;
// [.] max manual roll/yaw normalized input from user which does not change the locked heading
static constexpr float HDG_HOLD_MAN_INPUT_THRESH = 0.01f;
// [us] time after which we abort landing if terrain estimate is not valid
// [us] time after which we abort landing if terrain estimate is not valid. this timer start whenever the terrain altitude
// was previously valid, and has changed to invalid.
static constexpr hrt_abstime TERRAIN_ALT_TIMEOUT = 1_s;
// [us] if no altimeter measurement is made within this timeout, the land waypoint altitude is used for terrain altitude
// [us] within this timeout, if a distance sensor measurement not yet made, the land waypoint altitude is used for terrain
// altitude. this timer starts at the beginning of the landing glide slope.
static constexpr hrt_abstime TERRAIN_ALT_FIRST_MEASUREMENT_TIMEOUT = 10_s;
// [.] max throttle from user which will not lead to motors spinning up in altitude controlled modes
@@ -323,7 +325,9 @@ private:
kNudgeApproachPath
};
hrt_abstime _time_started_landing{0}; // [us]
// [us] Start time of the landing approach. If a fixed-wing landing pattern is used, this timer starts *after any
// orbit to altitude only when the aircraft has entered the final *straight approach.
hrt_abstime _time_started_landing{0};
// [m] lateral touchdown position offset manually commanded during landing
float _lateral_touchdown_position_offset{0.0f};
@@ -417,11 +421,18 @@ private:
void wind_poll();
void status_publish();
void landing_status_publish();
void landing_status_publish(const uint8_t abort_reason = position_controller_landing_status_s::kAbortReasonNone);
void tecs_status_publish();
void publishLocalPositionSetpoint(const position_setpoint_s &current_waypoint);
void abort_landing(bool abort);
/**
* @brief Sets the aborted landing state and publishes landing status.
*
* @param abort If true, the aircraft should abort the landing
* @param abort_reason Singular bit which triggered the abort
*/
void abort_landing(const bool abort,
const uint8_t abort_reason = position_controller_landing_status_s::kAbortReasonNone);
/**
* @brief Get a new waypoint based on heading and distance from current position
@@ -836,7 +847,8 @@ private:
(ParamFloat<px4::params::FW_LND_FL_TIME>) _param_fw_lnd_fl_time,
(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_NUDGE>) _param_fw_lnd_nudge,
(ParamInt<px4::params::FW_LND_ABORT>) _param_fw_lnd_abort
)
};