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Plane: adjust reposition landing code

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use accel with 1s timeconstant
This commit is contained in:
Andrew Tridgell 2021-05-15 11:12:16 +10:00
parent 5857e750ce
commit d1f6d913d5
2 changed files with 20 additions and 8 deletions
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27
ArduPlane/quadplane.cpp
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@ -1336,6 +1336,7 @@ void QuadPlane::init_qland(void)
throttle_wait = false;
setup_target_position();
poscontrol.state = QPOS_LAND_DESCEND;
poscontrol.pilot_correction_done = false;
last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing);
landing_detect.lower_limit_start_ms = 0;
landing_detect.land_start_ms = 0;
@ -2515,16 +2516,19 @@ void QuadPlane::update_land_positioning(void)
// only allow pilot reposition when pilot has stopped descent
roll_in = pitch_in = 0;
}
// limit correction speed to 25% of wp max speed
const float speed_max_cms = wp_nav->get_default_speed_xy() * 0.25;
// limit correction speed to accel with stopping time constant of 0.5s
const float speed_max_cms = wp_nav->get_wp_acceleration() * 0.5;
const float dt = plane.scheduler.get_loop_period_s();
poscontrol.target_vel_cms = Vector3f(-pitch_in, roll_in, 0) * speed_max_cms;
poscontrol.target_vel_cms.rotate_xy(plane.ahrs.yaw);
poscontrol.target_vel_cms.rotate_xy(ahrs_view->yaw);
poscontrol.target_cm += poscontrol.target_vel_cms * dt;
poscontrol.pilot_correction_active = (fabsf(roll_in) > 0 || fabsf(pitch_in) > 0);
if (poscontrol.pilot_correction_active) {
poscontrol.pilot_correction_done = true;
}
}
/*
@ -2533,6 +2537,7 @@ void QuadPlane::update_land_positioning(void)
void QuadPlane::run_xy_controller(void)
{
if (!pos_control->is_active_xy()) {
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
pos_control->init_xy_controller();
}
pos_control->update_xy_controller();
@ -2647,6 +2652,7 @@ void QuadPlane::vtol_position_controller(void)
if (plane.auto_state.wp_proportion >= 1 ||
plane.auto_state.wp_distance < 5) {
poscontrol.state = QPOS_POSITION2;
poscontrol.pilot_correction_done = false;
gcs().send_text(MAV_SEVERITY_INFO,"VTOL position2 started v=%.1f d=%.1f",
(double)ahrs.groundspeed(), (double)plane.auto_state.wp_distance);
}
@ -2658,8 +2664,15 @@ void QuadPlane::vtol_position_controller(void)
/*
for final land repositioning and descent we run the position controller
*/
Vector3f zero;
pos_control->input_pos_vel_accel_xy(poscontrol.target_cm, poscontrol.target_vel_cms, zero);
if (poscontrol.pilot_correction_done) {
// if we have done any repositioning then to handle GPS glitches we need to switch
// to velocity control
Vector3f zero;
pos_control->input_vel_accel_xy(poscontrol.target_vel_cms, zero);
} else {
Vector3f zero;
pos_control->input_pos_vel_accel_xy(poscontrol.target_cm, zero, zero);
}
// also run fixed wing navigation
plane.nav_controller->update_waypoint(plane.prev_WP_loc, loc);
@ -2806,9 +2819,6 @@ void QuadPlane::setup_target_position(void)
// setup vertical speed and acceleration
pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
// setup horizontal speed and acceleration
pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
}
/*
@ -3193,6 +3203,7 @@ bool QuadPlane::verify_vtol_land(void)
plane.auto_state.wp_distance < 2 &&
plane.ahrs.groundspeed() < 3) {
poscontrol.state = QPOS_LAND_DESCEND;
poscontrol.pilot_correction_done = false;
#if AC_FENCE == ENABLED
plane.fence.auto_disable_fence_for_landing();
#endif

1
ArduPlane/quadplane.h
View File

@ -474,6 +474,7 @@ private:
Vector3f target_vel_cms;
bool slow_descent:1;
bool pilot_correction_active;
bool pilot_correction_done;
} poscontrol;
struct {