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Copter: add LAND_ALT_LOW parameter

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This commit is contained in:
Pierre Kancir 2018-01-23 13:33:24 +01:00 committed by Randy Mackay
parent 3165d72647
commit cfc69214e6
4 changed files with 14 additions and 5 deletions
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9
ArduCopter/Parameters.cpp
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@ -947,6 +947,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Standard
AP_GROUPINFO("PILOT_SPEED_DN", 24, ParametersG2, pilot_speed_dn, 0),
// @Param: LAND_ALT_LOW
// @DisplayName: Land alt low
// @Description: Altitude during Landing at which vehicle slows to LAND_SPEED
// @Units: cm
// @Range: 100 10000
// @Increment: 10
// @User: Advanced
AP_GROUPINFO("LAND_ALT_LOW", 25, ParametersG2, land_alt_low, 1000),
AP_GROUPEND
};

3
ArduCopter/Parameters.h
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@ -556,6 +556,9 @@ public:
// Additional pilot velocity items
AP_Int16 pilot_speed_dn;
// Land alt final stage
AP_Int16 land_alt_low;
};
extern const AP_Param::Info var_info[];

3
ArduCopter/config.h
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@ -312,9 +312,6 @@
#ifndef LAND_SPEED
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
#endif
#ifndef LAND_START_ALT
# define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent
#endif
#ifndef LAND_REPOSITION_DEFAULT
# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing
#endif

4
ArduCopter/mode_land.cpp
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@ -183,8 +183,8 @@ void Copter::land_run_vertical_control(bool pause_descent)
// Don't speed up for landing.
max_land_descent_velocity = MIN(max_land_descent_velocity, -abs(g.land_speed));
// Compute a vertical velocity demand such that the vehicle approaches LAND_START_ALT. Without the below constraint, this would cause the vehicle to hover at LAND_START_ALT.
cmb_rate = AC_AttitudeControl::sqrt_controller(LAND_START_ALT-alt_above_ground, pos_control->get_pos_z_p().kP(), pos_control->get_accel_z(), G_Dt);
// Compute a vertical velocity demand such that the vehicle approaches g2.land_alt_low. Without the below constraint, this would cause the vehicle to hover at g2.land_alt_low.
cmb_rate = AC_AttitudeControl::sqrt_controller(MAX(g2.land_alt_low,100)-alt_above_ground, pos_control->get_pos_z_p().kP(), pos_control->get_accel_z(), G_Dt);
// Constrain the demanded vertical velocity so that it is between the configured maximum descent speed and the configured minimum descent speed.
cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed));