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FWPositionController: add support for circular landings

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Add method for circular landing, that is used instead of the straight fixed-wing
landings in case the landing is not part of a mission landing.
Use straight landing if previous WP is valid, and the ciruclar otherwise.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-02-20 17:04:39 +01:00
parent 50d75c537e
commit c47210fc77
4 changed files with 266 additions and 18 deletions
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src/modules/fw_path_navigation/FixedwingPositionControl.hpp
+21 -4
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@@ -236,7 +236,8 @@ private:
FW_POSCTRL_MODE_AUTO_ALTITUDE,
FW_POSCTRL_MODE_AUTO_CLIMBRATE,
FW_POSCTRL_MODE_AUTO_TAKEOFF,
FW_POSCTRL_MODE_AUTO_LANDING,
FW_POSCTRL_MODE_AUTO_LANDING_STRAIGHT,
FW_POSCTRL_MODE_AUTO_LANDING_CIRCULAR,
FW_POSCTRL_MODE_MANUAL_POSITION,
FW_POSCTRL_MODE_MANUAL_ALTITUDE,
FW_POSCTRL_MODE_OTHER
@@ -596,7 +597,9 @@ private:
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr);
/**
* @brief Controls automatic landing.
* @brief Controls automatic landing with straight approach.
*
* To be used in Missions that contain a loiter down followed by a land waypoint.
*
* @param now Current system time [us]
* @param control_interval Time since last position control call [s]
@@ -605,8 +608,22 @@ private:
* @param pos_sp_prev previous position setpoint
* @param pos_sp_curr current position setpoint
*/
void control_auto_landing(const hrt_abstime &now, const float control_interval, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
void control_auto_landing_straight(const hrt_abstime &now, const float control_interval, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
/**
* @brief Controls automatic landing with circular final appraoch.
*
* To be used outside of Mission landings. Vehicle will orbit down around the landing position setpoint until flaring.
*
* @param now Current system time [us]
* @param control_interval Time since last position control call [s]
* @param control_interval Time since the last position control update [s]
* @param ground_speed Local 2D ground speed of vehicle [m/s]
* @param pos_sp_curr current position setpoint
*/
void control_auto_landing_circular(const hrt_abstime &now, const float control_interval, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_curr);
/* manual control methods */