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AP_Landing: migrate aparm "LAND_" params from plane to AP_Landing

This commit is contained in:
Tom Pittenger 2016-11-23 01:36:28 -08:00 committed by Tom Pittenger
parent 8a5a62cfdc
commit d53b177877
2 changed files with 14 additions and 14 deletions
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26
libraries/AP_Landing/AP_Landing.cpp
View File

@ -150,8 +150,8 @@ bool AP_Landing::verify_land(const AP_SpdHgtControl::FlightStage flight_stage, c
bool on_approach_stage = (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH || bool on_approach_stage = (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE); flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE);
bool below_flare_alt = (height <= aparm.land_flare_alt); bool below_flare_alt = (height <= flare_alt);
bool below_flare_sec = (aparm.land_flare_sec > 0 && height <= sink_rate * aparm.land_flare_sec); bool below_flare_sec = (flare_sec > 0 && height <= sink_rate * flare_sec);
bool probably_crashed = (aparm.crash_detection_enable && fabsf(sink_rate) < 0.2f && !is_flying); bool probably_crashed = (aparm.crash_detection_enable && fabsf(sink_rate) < 0.2f && !is_flying);
if ((on_approach_stage && below_flare_alt) || if ((on_approach_stage && below_flare_alt) ||
@ -183,9 +183,9 @@ bool AP_Landing::verify_land(const AP_SpdHgtControl::FlightStage flight_stage, c
aparm.min_gndspeed_cm.load(); aparm.min_gndspeed_cm.load();
aparm.throttle_cruise.load(); aparm.throttle_cruise.load();
} }
} else if (!complete && !pre_flare && aparm.land_pre_flare_airspeed > 0) { } else if (!complete && !pre_flare && pre_flare_airspeed > 0) {
bool reached_pre_flare_alt = aparm.land_pre_flare_alt > 0 && (height <= aparm.land_pre_flare_alt); bool reached_pre_flare_alt = pre_flare_alt > 0 && (height <= pre_flare_alt);
bool reached_pre_flare_sec = aparm.land_pre_flare_sec > 0 && (height <= sink_rate * aparm.land_pre_flare_sec); bool reached_pre_flare_sec = pre_flare_sec > 0 && (height <= sink_rate * pre_flare_sec);
if (reached_pre_flare_alt || reached_pre_flare_sec) { if (reached_pre_flare_alt || reached_pre_flare_sec) {
pre_flare = true; pre_flare = true;
update_flight_stage_fn(); update_flight_stage_fn();
@ -230,8 +230,8 @@ void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing
// altitude and moving the prev_wp to that location. From there // altitude and moving the prev_wp to that location. From there
float correction_delta = fabsf(rangefinder_state.last_stable_correction) - fabsf(rangefinder_state.correction); float correction_delta = fabsf(rangefinder_state.last_stable_correction) - fabsf(rangefinder_state.correction);
if (aparm.land_slope_recalc_shallow_threshold <= 0 || if (slope_recalc_shallow_threshold <= 0 ||
fabsf(correction_delta) < aparm.land_slope_recalc_shallow_threshold) { fabsf(correction_delta) < slope_recalc_shallow_threshold) {
return; return;
} }
@ -249,7 +249,7 @@ void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing
// correction positive means we're too low so we should continue on with // correction positive means we're too low so we should continue on with
// the newly computed shallower slope instead of pitching/throttling up // the newly computed shallower slope instead of pitching/throttling up
} else if (aparm.land_slope_recalc_steep_threshold_to_abort > 0 && !has_aborted_due_to_slope_recalc) { } else if (slope_recalc_steep_threshold_to_abort > 0 && !has_aborted_due_to_slope_recalc) {
// correction negative means we're too high and need to point down (and speed up) to re-align // correction negative means we're too high and need to point down (and speed up) to re-align
// to land on target. A large negative correction means we would have to dive down a lot and will // to land on target. A large negative correction means we would have to dive down a lot and will
// generating way too much speed that we can not bleed off in time. It is better to remember // generating way too much speed that we can not bleed off in time. It is better to remember
@ -261,7 +261,7 @@ void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing
float initial_slope_deg = degrees(atan(initial_slope)); float initial_slope_deg = degrees(atan(initial_slope));
// is projected slope too steep? // is projected slope too steep?
if (new_slope_deg - initial_slope_deg > aparm.land_slope_recalc_steep_threshold_to_abort) { if (new_slope_deg - initial_slope_deg > slope_recalc_steep_threshold_to_abort) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Steep landing slope (%.0fm %.1fdeg)", GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Steep landing slope (%.0fm %.1fdeg)",
(double)rangefinder_state.correction, (double)(new_slope_deg - initial_slope_deg)); (double)rangefinder_state.correction, (double)(new_slope_deg - initial_slope_deg));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "aborting landing!"); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "aborting landing!");
@ -310,14 +310,14 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
float sink_rate = sink_height / sink_time; float sink_rate = sink_height / sink_time;
// the height we aim for is the one to give us the right flare point // the height we aim for is the one to give us the right flare point
float aim_height = aparm.land_flare_sec * sink_rate; float aim_height = flare_sec * sink_rate;
if (aim_height <= 0) { if (aim_height <= 0) {
aim_height = aparm.land_flare_alt; aim_height = flare_alt;
} }
// don't allow the aim height to be too far above LAND_FLARE_ALT // don't allow the aim height to be too far above LAND_FLARE_ALT
if (aparm.land_flare_alt > 0 && aim_height > aparm.land_flare_alt*2) { if (flare_alt > 0 && aim_height > flare_alt*2) {
aim_height = aparm.land_flare_alt*2; aim_height = flare_alt*2;
} }
// calculate slope to landing point // calculate slope to landing point

2
libraries/AP_Landing/AP_Landing.h
View File

@ -90,7 +90,7 @@ public:
// are we in auto and flight mode is approach || pre-flare || final (flare) // are we in auto and flight mode is approach || pre-flare || final (flare)
bool in_progress; bool in_progress;
// calculated approach slope during auto-landing: ((prev_WP_loc.alt - next_WP_loc.alt)*0.01f - aparm.land_flare_sec * sink_rate) / get_distance(prev_WP_loc, next_WP_loc) // calculated approach slope during auto-landing: ((prev_WP_loc.alt - next_WP_loc.alt)*0.01f - flare_sec * sink_rate) / get_distance(prev_WP_loc, next_WP_loc)
float slope; float slope;
// same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope // same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope