fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtl_direct: skip loiter altitude items for multicopter without RTL land delay (#23689)

Browse Source 
This was already done before the refactor and was assumed to not be necessary.
The problem is that these mission items result in a strang looking vertical slow down directly followed
by an acceleration during the landing phase.
This commit is contained in:
Matthias Grob 2024-09-23 18:33:03 +02:00 committed by GitHub
parent e0f8642d26
commit f60bb2c6bc
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 11 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
src/modules/navigator/rtl_direct.cpp
View File

@ -157,6 +157,10 @@ void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s
void RtlDirect::_updateRtlState()
{
// RTL_LAND_DELAY > 0 -> wait seconds, < 0 wait indefinitely
const bool wait_at_rtl_descend_alt = fabsf(_param_rtl_land_delay.get()) > FLT_EPSILON;
const bool is_multicopter = (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
RTLState new_state{RTLState::IDLE};
switch (_rtl_state) {
@ -165,7 +169,13 @@ void RtlDirect::_updateRtlState()
break;
case RTLState::MOVE_TO_LOITER:
new_state = RTLState::LOITER_DOWN;
if (!is_multicopter || wait_at_rtl_descend_alt) {
new_state = RTLState::LOITER_DOWN;
} else {
new_state = RTLState::LAND;
}
break;
case RTLState::LOITER_DOWN:
@ -206,7 +216,6 @@ void RtlDirect::_updateRtlState()
}
_rtl_state = new_state;
}