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Plane: allow steering right through the landing 

this allows a small degree of steering right through the landing,
which makes it possible to have a turn just before landing
This commit is contained in:
Andrew Tridgell 2014-06-21 08:36:16 +10:00
parent 1f7305f516
commit 165993dbf5
1 changed files with 16 additions and 20 deletions
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36
ArduPlane/commands_logic.pde
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@ -385,20 +385,6 @@ static bool verify_land()
auto_state.land_complete = true;
if (steer_state.hold_course_cd == -1) {
// we have just reached the threshold of to flare for landing.
// We now don't want to do any radical
// turns, as rolling could put the wings into the runway.
// To prevent further turns we set steer_state.hold_course_cd to the
// current heading. Previously we set this to
// crosstrack_bearing, but the xtrack bearing can easily
// be quite large at this point, and that could induce a
// sudden large roll correction which is very nasty at
// this point in the landing.
steer_state.hold_course_cd = ahrs.yaw_sensor;
gcs_send_text_fmt(PSTR("Land Complete - Hold course %ld"), steer_state.hold_course_cd);
}
if (gps.ground_speed() < 3) {
// reload any airspeed or groundspeed parameters that may have
// been set for landing. We don't do this till ground
@ -410,12 +396,22 @@ static bool verify_land()
}
}
if (steer_state.hold_course_cd != -1) {
// recalc bearing error with hold_course;
nav_controller->update_heading_hold(steer_state.hold_course_cd);
} else {
nav_controller->update_waypoint(prev_WP_loc, next_WP_loc);
}
/*
when landing we keep the L1 navigation waypoint 200m ahead. This
prevents sudden turns if we overshoot the landing point
*/
struct Location land_WP_loc = next_WP_loc;
int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(land_WP_loc,
land_bearing_cd*0.01f,
get_distance(prev_WP_loc, current_loc) + 200);
nav_controller->update_waypoint(prev_WP_loc, land_WP_loc);
/*
we always return false as a landing mission item never
completes - we stay on this waypoint unless the GCS commands us
to change mission item or reset the mission
*/
return false;
}