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Plane: improve target airspeed in landing approach

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if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach

this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
This commit is contained in:
Andrew Tridgell 2022-08-02 07:55:14 +10:00 committed by Randy Mackay
parent 5aba7bef29
commit 1c4cc3670a
1 changed files with 7 additions and 3 deletions
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10
ArduPlane/quadplane.cpp
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@ -2344,7 +2344,11 @@ void QuadPlane::vtol_position_controller(void)
// use nav controller roll // use nav controller roll
plane.calc_nav_roll(); plane.calc_nav_roll();
const float stop_distance = stopping_distance(); // work out the point to enter airbrake mode. We want enough
// distance to stop, plus some margin for the time it takes to
// change the accel (jerk limit) plus the min time in airbrake
// mode. For simplicity we assume 2 seconds margin
const float stop_distance = stopping_distance() + 2*closing_speed;
if (!suppress_z_controller && poscontrol.get_state() == QPOS_AIRBRAKE) { if (!suppress_z_controller && poscontrol.get_state() == QPOS_AIRBRAKE) {
hold_hover(0); hold_hover(0);
@ -3965,12 +3969,12 @@ float QuadPlane::get_land_airspeed(void)
approach_speed = cruise_speed; approach_speed = cruise_speed;
} }
} }
const float time_to_landing = plane.auto_state.wp_distance / MAX(approach_speed, 5); const float time_to_pos1 = (plane.auto_state.wp_distance - stopping_distance(sq(approach_speed))) / MAX(approach_speed, 5);
/* /*
slow down to landing approach speed as we get closer to landing slow down to landing approach speed as we get closer to landing
*/ */
approach_speed = linear_interpolate(approach_speed, cruise_speed, approach_speed = linear_interpolate(approach_speed, cruise_speed,
time_to_landing, time_to_pos1,
20, 60); 20, 60);
return approach_speed; return approach_speed;
} }