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Revert "FWModeManger: remove throttle spike during flaring by waiting with height rate change"

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This reverts commit 259e7d1d53.
This commit is contained in:
mahima-yoga
2026-01-06 11:11:23 +01:00
committed by Mahima Yoga
parent 273766a4ea
commit 9169f9cd44
1 changed files with 2 additions and 8 deletions
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src/modules/fw_mode_manager/FixedWingModeManager.cpp
+2 -8
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@@ -1498,14 +1498,8 @@ FixedWingModeManager::control_auto_landing_straight(const hrt_abstime &now, cons
const float flare_ramp_interpolator_sqrt = sqrtf(flare_ramp_interpolator);
// Use separate ramp for the altitude setpoint that's starting only when the other is finished
// to allow motor to be ramped down before height rate setpoint is adapted for flaring.
const float flare_hieght_rate_interpolator = math::constrain((seconds_since_flare_start -
_param_fw_lnd_fl_time.get()) / (_param_fw_lnd_fl_time.get()), 0.f, 1.f);
const float flare_hieght_rate_interpolator_sqrt = sqrt(flare_hieght_rate_interpolator);
const float height_rate_setpoint = flare_hieght_rate_interpolator_sqrt * (-_param_fw_lnd_fl_sink.get()) +
(1.0f - flare_hieght_rate_interpolator_sqrt) * _flare_states.initial_height_rate_setpoint;
const float height_rate_setpoint = flare_ramp_interpolator_sqrt * (-_param_fw_lnd_fl_sink.get()) +
(1.0f - flare_ramp_interpolator_sqrt) * _flare_states.initial_height_rate_setpoint;
float pitch_min_rad = flare_ramp_interpolator_sqrt * radians(_param_fw_lnd_fl_pmin.get()) +
(1.0f - flare_ramp_interpolator_sqrt) * radians(_param_fw_p_lim_min.get());