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Plane: allow for a trans decel margin 

so if we are behind the velocity curve we are less likely to overshoot
landing
This commit is contained in:
Andrew Tridgell 2022-02-15 12:29:02 +11:00
parent c9938658da
commit 395cf1b6dd
1 changed files with 5 additions and 1 deletions
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6
ArduPlane/quadplane.cpp
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@ -2103,7 +2103,11 @@ void QuadPlane::run_xy_controller(void)
if (in_vtol_land_sequence() && if (in_vtol_land_sequence() &&
(poscontrol.get_state() == QPOS_POSITION1 || (poscontrol.get_state() == QPOS_POSITION1 ||
poscontrol.get_state() == QPOS_POSITION2)) { poscontrol.get_state() == QPOS_POSITION2)) {
accel_cmss = MAX(accel_cmss, transition_decel*100); // we allow for a bit higher accel limit than the trans decel,
// so if are less likely to overshoot the landing point
// if at some stage in the POS1 we are under velocity
const float accel_margin = 1.25;
accel_cmss = MAX(accel_cmss, accel_margin*transition_decel*100);
} }
const float speed_cms = wp_nav->get_default_speed_xy(); const float speed_cms = wp_nav->get_default_speed_xy();
pos_control->set_max_speed_accel_xy(speed_cms, accel_cmss); pos_control->set_max_speed_accel_xy(speed_cms, accel_cmss);