Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-02 22:18:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Landing_Slope: Log height used for flare timing.

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Landing/AP_Landing.h
View File

@ -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) // 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 slope;
float height_flare_log;
AP_Mission &mission; AP_Mission &mission;
AP_AHRS &ahrs; AP_AHRS &ahrs;
AP_SpdHgtControl *SpdHgt_Controller; 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 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); 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(); const AP_GPS &gps = AP::gps();
if ((on_approach_stage && below_flare_alt) || 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: slope: Slope to landing point
// @Field: slopeInit: Initial slope to landing point // @Field: slopeInit: Initial slope to landing point
// @Field: altO: Rangefinder correction // @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(), AP_HAL::micros64(),
type_slope_stage, type_slope_stage,
flags, flags,
type_slope_flags, type_slope_flags,
(double)slope, (double)slope,
(double)initial_slope, (double)initial_slope,
(double)alt_offset); (double)alt_offset,
(double)height_flare_log);
} }
bool AP_Landing::type_slope_is_throttle_suppressed(void) const bool AP_Landing::type_slope_is_throttle_suppressed(void) const