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Marco Hauswirth
561a83cf6c
During backtransition in gusty conditions the current "pitch-up to decelerate" strategy had deficiencies as the motion is not always purely in body-x direction. Thus we replace it here with a "tilt-up to decelerate" strategy. Secondly, in GNSS-denied environments where the position error increases, tracking a precise landing point through position feedback is not reasonable, and we now instead discard the position feedback in cases where the position error exceeds 10m. * add eph limit check for dist-to-target VT BT deceleration * add alphafilter for acceleration estimate in VT BT, rename constants * explicitly set yawspeed_setpoint to 0 * replace backtransition pitch-setpoint with tilt-setpoint * blend vtol-backtransition roll vehicle_attitude_sp based on mc_weight * remove memcpy for v_att_sp