From 9169f9cd44207846422c2dbbd82fa12f3a1a40ee Mon Sep 17 00:00:00 2001 From: mahima-yoga Date: Tue, 6 Jan 2026 11:11:23 +0100 Subject: [PATCH] Revert "FWModeManger: remove throttle spike during flaring by waiting with height rate change" This reverts commit 259e7d1d5373dbad1ee27b1d72d1ae66394c4ea3. --- src/modules/fw_mode_manager/FixedWingModeManager.cpp | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/src/modules/fw_mode_manager/FixedWingModeManager.cpp b/src/modules/fw_mode_manager/FixedWingModeManager.cpp index ce11ef7f9c..31d610473e 100644 --- a/src/modules/fw_mode_manager/FixedWingModeManager.cpp +++ b/src/modules/fw_mode_manager/FixedWingModeManager.cpp @@ -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());