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Copter: Allow fast descend while Prec Landing

This commit is contained in:
rishabsingh3003 2023-09-03 23:11:52 -04:00 committed by Peter Barker
parent d5a5f4f863
commit 8a1fa0e096
3 changed files with 3 additions and 3 deletions
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2
ArduCopter/mode.cpp
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@ -666,7 +666,7 @@ void Mode::land_run_vertical_control(bool pause_descent)
// doing precland but too far away from the obstacle // doing precland but too far away from the obstacle
// do not descend // do not descend
cmb_rate = 0.0f; cmb_rate = 0.0f;
} else if (target_pos_meas.z > 35.0f && target_pos_meas.z < 200.0f) { } else if (target_pos_meas.z > 35.0f && target_pos_meas.z < 200.0f && !copter.precland.do_fast_descend()) {
// very close to the ground and doing prec land, lets slow down to make sure we land on target // very close to the ground and doing prec land, lets slow down to make sure we land on target
// compute desired descent velocity // compute desired descent velocity
const float precland_acceptable_error_cm = 15.0f; const float precland_acceptable_error_cm = 15.0f;

2
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -178,7 +178,7 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
// @Param: OPTIONS // @Param: OPTIONS
// @DisplayName: Precision Landing Extra Options // @DisplayName: Precision Landing Extra Options
// @Description: Precision Landing Extra Options // @Description: Precision Landing Extra Options
// @Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition, 2: Do not slow vertical speed in final descend phase // @Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition, 2: Maintain high speed in final descent
// @User: Advanced // @User: Advanced
AP_GROUPINFO("OPTIONS", 17, AC_PrecLand, _options, 0), AP_GROUPINFO("OPTIONS", 17, AC_PrecLand, _options, 0),

2
libraries/AC_PrecLand/AC_PrecLand.h
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@ -114,7 +114,7 @@ public:
AC_PrecLand_StateMachine::RetryAction get_retry_behaviour() const { return static_cast<AC_PrecLand_StateMachine::RetryAction>(_retry_behave.get()); } AC_PrecLand_StateMachine::RetryAction get_retry_behaviour() const { return static_cast<AC_PrecLand_StateMachine::RetryAction>(_retry_behave.get()); }
bool allow_precland_after_reposition() const { return _options & PLND_OPTION_PRECLAND_AFTER_REPOSITION; } bool allow_precland_after_reposition() const { return _options & PLND_OPTION_PRECLAND_AFTER_REPOSITION; }
bool do_fast_descend() const {return _options & PLND_OPTION_FAST_DESCEND; } bool do_fast_descend() const { return _options & PLND_OPTION_FAST_DESCEND; }
// parameter var table // parameter var table
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];