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Plane: smooth out final descent for landing

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This commit is contained in:
Andrew Tridgell 2016-04-02 22:45:51 +11:00
parent 7dcd17a2fa
commit 5cc4b20c73
2 changed files with 25 additions and 10 deletions
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34
ArduPlane/quadplane.cpp
View File

@ -524,6 +524,18 @@ bool QuadPlane::should_relax(void)
return relax_loiter; return relax_loiter;
} }
/*
smooth out descent rate for landing to prevent a jerk as we get to
land_final_alt.
*/
float QuadPlane::landing_descent_rate_cms(float height_above_ground)
{
float ret = linear_interpolate(land_speed_cms, wp_nav->get_speed_down(),
height_above_ground,
land_final_alt, land_final_alt+3);
return ret;
}
// run quadplane loiter controller // run quadplane loiter controller
void QuadPlane::control_loiter() void QuadPlane::control_loiter()
@ -574,16 +586,16 @@ void QuadPlane::control_loiter()
plane.nav_pitch_cd = wp_nav->get_pitch(); plane.nav_pitch_cd = wp_nav->get_pitch();
if (plane.control_mode == QLAND) { if (plane.control_mode == QLAND) {
if (land_state == QLAND_DESCEND) { float height_above_ground;
if (plane.g.rangefinder_landing && plane.rangefinder_state.in_range) { if (plane.g.rangefinder_landing && plane.rangefinder_state.in_range) {
if (plane.rangefinder_state.height_estimate < land_final_alt) { height_above_ground = plane.rangefinder_state.height_estimate;
land_state = QLAND_FINAL; } else {
} height_above_ground = plane.adjusted_relative_altitude_cm() * 0.01;
} else if (plane.adjusted_relative_altitude_cm() < land_final_alt*100) {
land_state = QLAND_FINAL;
}
} }
float descent_rate = (land_state == QLAND_FINAL)?land_speed_cms:wp_nav->get_speed_down(); if (height_above_ground < land_final_alt && land_state < QLAND_FINAL) {
land_state = QLAND_FINAL;
}
float descent_rate = (land_state == QLAND_FINAL)? land_speed_cms:landing_descent_rate_cms(height_above_ground);
pos_control->set_alt_target_from_climb_rate(-descent_rate, plane.G_Dt, true); pos_control->set_alt_target_from_climb_rate(-descent_rate, plane.G_Dt, true);
check_land_complete(); check_land_complete();
} else { } else {
@ -1133,7 +1145,9 @@ void QuadPlane::control_auto(const Location &loc)
if (land_state <= QLAND_POSITION2) { if (land_state <= QLAND_POSITION2) {
pos_control->set_alt_target_from_climb_rate(0, plane.G_Dt, false); pos_control->set_alt_target_from_climb_rate(0, plane.G_Dt, false);
} else if (land_state > QLAND_POSITION2 && land_state < QLAND_FINAL) { } else if (land_state > QLAND_POSITION2 && land_state < QLAND_FINAL) {
pos_control->set_alt_target_from_climb_rate(-wp_nav->get_speed_down(), plane.G_Dt, true); float height_above_ground = (plane.current_loc.alt - plane.next_WP_loc.alt)*0.01;
pos_control->set_alt_target_from_climb_rate(-landing_descent_rate_cms(height_above_ground),
plane.G_Dt, true);
} else { } else {
pos_control->set_alt_target_from_climb_rate(-land_speed_cms, plane.G_Dt, true); pos_control->set_alt_target_from_climb_rate(-land_speed_cms, plane.G_Dt, true);
} }

1
ArduPlane/quadplane.h
View File

@ -137,6 +137,7 @@ private:
bool should_relax(void); bool should_relax(void);
void motors_output(void); void motors_output(void);
void Log_Write_QControl_Tuning(); void Log_Write_QControl_Tuning();
float landing_descent_rate_cms(float height_above_ground);
// setup correct aux channels for frame class // setup correct aux channels for frame class
void setup_default_channels(uint8_t num_motors); void setup_default_channels(uint8_t num_motors);