Instead of tracking a fixed deceleration setpoint during the backtransition we added here position feedback,
such that the vehicle comes to a stop latest at the current position setpoint. This reduces the risk of
overshooting the landing point.
If no position feedback/position setpoint is present the old logic still applies.
It further moves the braking controller to the FlightTaskTransition instad of doing it in
the VTOL attitude mode.
* vtol_type: added position feedback to backward transition
* FlgithTaskTransition: refactored backtransition deceleration/pitch setpoint computation
* FlightTaskTransition: minor improvements
* FlightTaskTransition: use .dot() consistently and remove unnecessary comments
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Alvaro Fernandez