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Fixed-wing autoland: Introduce parameter to enable/disable the early activation of the landing configuration

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This commit is contained in:
Philipp Oettershagen
2018-08-24 10:13:07 -04:00
committed by Daniel Agar
parent 334aa57a5f
commit c997159e32
3 changed files with 24 additions and 2 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+4 -1
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@@ -75,6 +75,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT");
_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
_parameter_handles.land_use_terrain_estimate = param_find("FW_LND_USETER");
_parameter_handles.land_early_config_change = param_find("FW_LND_EARLYCFG");
_parameter_handles.land_airspeed_scale = param_find("FW_LND_AIRSPD_SC");
_parameter_handles.land_throtTC_scale = param_find("FW_LND_THRTC_SC");
@@ -148,6 +149,7 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.land_flare_pitch_min_deg, &(_parameters.land_flare_pitch_min_deg));
param_get(_parameter_handles.land_flare_pitch_max_deg, &(_parameters.land_flare_pitch_max_deg));
param_get(_parameter_handles.land_use_terrain_estimate, &(_parameters.land_use_terrain_estimate));
param_get(_parameter_handles.land_early_config_change, &(_parameters.land_early_config_change));
param_get(_parameter_handles.land_airspeed_scale, &(_parameters.land_airspeed_scale));
param_get(_parameter_handles.land_throtTC_scale, &(_parameters.land_throtTC_scale));
@@ -847,7 +849,8 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
float alt_sp = pos_sp_curr.alt;
if (pos_sp_next.type == position_setpoint_s::SETPOINT_TYPE_LAND && pos_sp_next.valid && _l1_control.circle_mode()) {
if (pos_sp_next.type == position_setpoint_s::SETPOINT_TYPE_LAND && pos_sp_next.valid
&& _l1_control.circle_mode() && _parameters.land_early_config_change == 1) {
// We're in a loiter directly before a landing WP. Enable our landing configuration (flaps,
// landing airspeed and potentially tighter throttle control) already such that we don't
// have to do this switch (which can cause significant altitude errors) close to the ground.