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AP_Landing_Slope: Log height used for flare timing.

This commit is contained in:
Samuel Tabor 2021-05-12 12:10:57 +01:00 committed by Peter Barker
parent 9f77d5ac9d
commit 27f0320452
2 changed files with 8 additions and 2 deletions
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2
libraries/AP_Landing/AP_Landing.h
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@ -131,6 +131,8 @@ private:
// calculated approach slope during auto-landing: ((prev_WP_loc.alt - next_WP_loc.alt)*0.01f - flare_sec * sink_rate) / prev_WP_loc.get_distance(next_WP_loc)
float slope;
float height_flare_log;
AP_Mission &mission;
AP_AHRS &ahrs;
AP_SpdHgtControl *SpdHgt_Controller;

8
libraries/AP_Landing/AP_Landing_Slope.cpp
View File

@ -89,6 +89,8 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
const bool below_flare_sec = (flare_sec > 0 && height <= sink_rate * flare_sec);
const bool probably_crashed = (aparm.crash_detection_enable && fabsf(sink_rate) < 0.2f && !is_flying);
height_flare_log = height;
const AP_GPS &gps = AP::gps();
if ((on_approach_stage && below_flare_alt) ||
@ -405,14 +407,16 @@ void AP_Landing::type_slope_log(void) const
// @Field: slope: Slope to landing point
// @Field: slopeInit: Initial slope to landing point
// @Field: altO: Rangefinder correction
AP::logger().Write("LAND", "TimeUS,stage,f1,f2,slope,slopeInit,altO", "QBBBfff",
// @Field: fh: Height for flare timing.
AP::logger().Write("LAND", "TimeUS,stage,f1,f2,slope,slopeInit,altO,fh", "QBBBffff",
AP_HAL::micros64(),
type_slope_stage,
flags,
type_slope_flags,
(double)slope,
(double)initial_slope,
(double)alt_offset);
(double)alt_offset,
(double)height_flare_log);
}
bool AP_Landing::type_slope_is_throttle_suppressed(void) const