Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: improve target airspeed in landing approach 

if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed
between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach

this also fixes landing_desired_closing_velocity() to never go above
the landing target speed, so we don't try to speed up if we are
starting the landing sequence too early
This commit is contained in:
Andrew Tridgell 2022-08-02 07:55:14 +10:00 committed by Randy Mackay
parent 4f9800ca41
commit b3d84cd577
1 changed files with 7 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduPlane/quadplane.cpp
View File

@ -2344,7 +2344,11 @@ void QuadPlane::vtol_position_controller(void)
// use nav controller roll
plane.calc_nav_roll();
const float stop_distance = stopping_distance();
// work out the point to enter airbrake mode. We want enough
// distance to stop, plus some margin for the time it takes to
// change the accel (jerk limit) plus the min time in airbrake
// mode. For simplicity we assume 2 seconds margin
const float stop_distance = stopping_distance() + 2*closing_speed;
if (!suppress_z_controller && poscontrol.get_state() == QPOS_AIRBRAKE) {
hold_hover(0);
@ -3965,12 +3969,12 @@ float QuadPlane::get_land_airspeed(void)
approach_speed = cruise_speed;
}
}
const float time_to_landing = plane.auto_state.wp_distance / MAX(approach_speed, 5);
const float time_to_pos1 = (plane.auto_state.wp_distance - stopping_distance(sq(approach_speed))) / MAX(approach_speed, 5);
/*
slow down to landing approach speed as we get closer to landing
*/
approach_speed = linear_interpolate(approach_speed, cruise_speed,
time_to_landing,
time_to_pos1,
20, 60);
return approach_speed;
}