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Back transition duration based on deceleration m/s/s

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sanderux
2017-07-27 01:54:41 +02:00
committed by Sander Smeets
parent 2e481867e5
commit e9516db5b0
3 changed files with 20 additions and 7 deletions
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src/modules/navigator/mission_block.cpp
+5 -6
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@@ -65,7 +65,7 @@ MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
_param_vtol_wv_takeoff(this, "VT_WV_TKO_EN", false),
_param_vtol_wv_loiter(this, "VT_WV_LTR_EN", false),
_param_force_vtol(this, "NAV_FORCE_VT", false),
_param_back_trans_dur(this, "VT_B_TRANS_DUR", false)
_param_back_trans_dec_mss(this, "VT_B_DEC_MSS", false)
{
}
@@ -296,12 +296,11 @@ MissionBlock::is_mission_item_reached()
/* for vtol back transition calculate acceptance radius based on time and ground speed */
if (_mission_item.vtol_back_transition) {
float groundspeed = sqrtf(_navigator->get_global_position()->vel_n * _navigator->get_global_position()->vel_n +
_navigator->get_global_position()->vel_e * _navigator->get_global_position()->vel_e);
float velocity = sqrtf(_navigator->get_local_position()->vx * _navigator->get_local_position()->vx +
_navigator->get_local_position()->vy * _navigator->get_local_position()->vy);
if (_param_back_trans_dur.get() > FLT_EPSILON && groundspeed > FLT_EPSILON
&& groundspeed * _param_back_trans_dur.get() > mission_acceptance_radius) {
mission_acceptance_radius = groundspeed * _param_back_trans_dur.get();
if (_param_back_trans_dec_mss.get() > FLT_EPSILON && velocity > FLT_EPSILON) {
mission_acceptance_radius = (velocity / _param_back_trans_dec_mss.get() / 2) * velocity;
}
}