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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
2022-11-22 13:46:25 -05:00
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.hpp
+7 -1
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@@ -166,6 +166,9 @@ static constexpr float MAX_TOUCHDOWN_POSITION_NUDGE_RATE = 4.0f;
// [.] normalized deadzone threshold for manual nudging input
static constexpr float MANUAL_TOUCHDOWN_NUDGE_INPUT_DEADZONE = 0.15f;
// [s] time interval after touchdown for ramping in runway clamping constraints (touchdown is assumed at FW_LND_TD_TIME after start of flare)
static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f;
class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams,
public px4::WorkItem
{
@@ -867,13 +870,16 @@ 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_TIME>) _param_fw_lnd_td_time,
(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_ABORT>) _param_fw_lnd_abort,
(ParamFloat<px4::params::FW_WIND_ARSP_SC>) _param_fw_wind_arsp_sc,
(ParamFloat<px4::params::FW_TKO_AIRSPD>) _param_fw_tko_airspd
(ParamFloat<px4::params::FW_TKO_AIRSPD>) _param_fw_tko_airspd,
(ParamFloat<px4::params::RWTO_PSP>) _param_rwto_psp
)
};