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Navigator: Support straight line mission landings (#23576)

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* introduced altitude acceptance radius in position setpoint for fixed
wing guidance
- allows navigator to explicitly set the altitude acceptance radius
- needed for staright line landing support

* added ignore_alt_acceptance to position setpoint message to allow guidance
logic to ignore altitude error on waypoint
- can be useful to prevent loitering at a waypoint within a mission landing sequence

* only set altitude acceptance radius to infinity for a waypoint inside a mission landing
for fixed wing vehicles

* navigator: return altitude acceptance radius from triplet if it's valid

* FixedWingPositionControl: check if alt acceptance radius provided in position setpoint
is larger 0

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Alvaro Fernandez <alvaro@auterion.com>
This commit is contained in:
Roman Bapst
2024-09-10 17:44:24 +02:00
committed by GitHub
co-authored by Alvaro Fernandez
parent 03aec2e188
commit c94c1ce4d2
10 changed files with 75 additions and 39 deletions
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src/modules/navigator/navigator_main.cpp
+6 -1
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@@ -1116,9 +1116,14 @@ float Navigator::get_default_acceptance_radius()
float Navigator::get_altitude_acceptance_radius()
{
if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
const position_setpoint_s &curr_sp = get_position_setpoint_triplet()->current;
const position_setpoint_s &next_sp = get_position_setpoint_triplet()->next;
if (!force_vtol() && next_sp.type == position_setpoint_s::SETPOINT_TYPE_LAND && next_sp.valid) {
if ((PX4_ISFINITE(curr_sp.alt_acceptance_radius) && curr_sp.alt_acceptance_radius > FLT_EPSILON)) {
return curr_sp.alt_acceptance_radius;
} else if (!force_vtol() && next_sp.type == position_setpoint_s::SETPOINT_TYPE_LAND && next_sp.valid) {
// Use separate (tighter) altitude acceptance for clean altitude starting point before FW landing
return _param_nav_fw_altl_rad.get();