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MC pos control: More landing handling

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Lorenz Meier
2017-02-22 09:33:12 +01:00
parent c55fa9dd3f
commit d7683e97a3
1 changed files with 8 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+8 -2
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@@ -1525,16 +1525,21 @@ void MulticopterPositionControl::control_auto(float dt)
_do_reset_alt_pos_flag = true; _do_reset_alt_pos_flag = true;
} }
// Handle the landing gear based on the manual landing alt
const bool high_enough_for_landing_gear = (_pos(2) < _manual_land_alt.get() * 2.0f);
// During a mission or in loiter it's safe to retract the landing gear. // During a mission or in loiter it's safe to retract the landing gear.
if ((_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_POSITION || if ((_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_POSITION ||
_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) && _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) &&
!_vehicle_land_detected.landed) { !_vehicle_land_detected.landed &&
high_enough_for_landing_gear) {
_att_sp.landing_gear = 1.0f; _att_sp.landing_gear = 1.0f;
// During takeoff and landing, we better put it down again. // During takeoff and landing, we better put it down again.
} else if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF || } else if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF ||
_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) { _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND ||
!high_enough_for_landing_gear) {
_att_sp.landing_gear = -1.0f; _att_sp.landing_gear = -1.0f;
} else { } else {
@@ -2250,6 +2255,7 @@ MulticopterPositionControl::task_main()
_reset_int_z = true; _reset_int_z = true;
_reset_int_xy = true; _reset_int_xy = true;
_reset_yaw_sp = true; _reset_yaw_sp = true;
_yaw_takeoff = _yaw;
} }
/* reset yaw and altitude setpoint for VTOL which are in fw mode */ /* reset yaw and altitude setpoint for VTOL which are in fw mode */