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fixed-wing landing: add a touchdown time and subsequent ramp down to rwto pitch setpoint after the flare to keep wheels on ground

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This commit is contained in:
Thomas Stastny
2022-10-27 18:01:27 +02:00
committed by Daniel Agar
parent 1de1416773
commit a8c2eaf3e0
3 changed files with 42 additions and 5 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+15 -4
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@@ -1782,10 +1782,21 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
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;
const 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());
const float pitch_max_rad = flare_ramp_interpolator_sqrt * radians(_param_fw_lnd_fl_pmax.get()) +
(1.0f - flare_ramp_interpolator_sqrt) * radians(_param_fw_p_lim_max.get());
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());
float pitch_max_rad = flare_ramp_interpolator_sqrt * radians(_param_fw_lnd_fl_pmax.get()) +
(1.0f - flare_ramp_interpolator_sqrt) * radians(_param_fw_p_lim_max.get());
if (_param_fw_lnd_td_time.get() > FLT_EPSILON) {
const float touchdown_time = math::max(_param_fw_lnd_td_time.get(), _param_fw_lnd_fl_time.get());
const float touchdown_interpolator = math::constrain((seconds_since_flare_start - touchdown_time) /
POST_TOUCHDOWN_CLAMP_TIME, 0.0f,
1.0f);
pitch_max_rad = touchdown_interpolator * _param_rwto_psp.get() + (1.0f - touchdown_interpolator) * pitch_max_rad;
pitch_min_rad = touchdown_interpolator * _param_rwto_psp.get() + (1.0f - touchdown_interpolator) * pitch_min_rad;
}
// idle throttle may be >0 for internal combustion engines
// normally set to zero for electric motors