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Navigator: Set altitude acceptance radius to infinity when moving to land point after transition (#24115)

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* Navigator: set alt acceptance radius to infinity
for land waypoint after backtransition -> avoid
vehicle with depleted battery from not reaching the alt
setpoint and getting stuck

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2024-12-20 09:21:32 +01:00
committed by GitHub
parent 61961350f9
commit b765769f50
5 changed files with 31 additions and 6 deletions
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src/modules/navigator/navigator_main.cpp
+7 -2
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@@ -1145,8 +1145,13 @@ float Navigator::get_altitude_acceptance_radius()
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp)
&& pos_ctrl_status.altitude_acceptance > alt_acceptance_radius) {
const position_setpoint_s &curr_sp = get_position_setpoint_triplet()->current;
if (PX4_ISFINITE(curr_sp.alt_acceptance_radius) && curr_sp.alt_acceptance_radius > FLT_EPSILON) {
alt_acceptance_radius = curr_sp.alt_acceptance_radius;
} else if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp)
&& pos_ctrl_status.altitude_acceptance > alt_acceptance_radius) {
alt_acceptance_radius = pos_ctrl_status.altitude_acceptance;
}