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Plane: Quadaplane: QRTL use stopping point for climb submode altitude threshold

This commit is contained in:
Iampete1 2023-01-13 14:39:19 +00:00 committed by Andrew Tridgell
parent bf9d49b72d
commit 928a923f43
1 changed files with 10 additions and 5 deletions
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15
ArduPlane/mode_qrtl.cpp
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@ -110,8 +110,13 @@ void ModeQRTL::run()
quadplane.set_climb_rate_cms(quadplane.wp_nav->get_default_speed_up());
quadplane.run_z_controller();
// Climb done when stopping point reaches target altitude
Vector3p stopping_point;
pos_control->get_stopping_point_z_cm(stopping_point.z);
Location stopping_loc = Location(stopping_point.tofloat(), Location::AltFrame::ABOVE_ORIGIN);
ftype alt_diff;
if (!plane.current_loc.get_alt_distance(plane.next_WP_loc, alt_diff) || is_positive(alt_diff)) {
if (!stopping_loc.get_alt_distance(plane.next_WP_loc, alt_diff) || is_positive(alt_diff)) {
// climb finshed or cant get alt diff, head home
submode = SubMode::RTL;
plane.prev_WP_loc = plane.current_loc;
@ -121,10 +126,10 @@ void ModeQRTL::run()
const float dist = plane.current_loc.get_distance(destination);
const float radius = MAX(fabsf(plane.aparm.loiter_radius), fabsf(plane.g.rtl_radius));
if (dist < 1.5*radius) {
// if close to home return at current altitude
int32_t current_alt_abs_cm;
if (plane.current_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, current_alt_abs_cm)) {
RTL_alt_abs_cm = MIN(RTL_alt_abs_cm, current_alt_abs_cm);
// if close to home return at current target altitude
int32_t target_alt_abs_cm;
if (plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, target_alt_abs_cm)) {
RTL_alt_abs_cm = MIN(RTL_alt_abs_cm, target_alt_abs_cm);
}
gcs().send_text(MAV_SEVERITY_INFO,"VTOL position1 d=%.1f r=%.1f", dist, radius);
poscontrol.set_state(QuadPlane::QPOS_POSITION1);