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

AC_Precland: Add new parameter to descend only when close to target

This commit is contained in:
Rishabh 2021-08-06 00:34:22 +05:30 committed by Randy Mackay
parent 12ac5174d7
commit d9534d9526
2 changed files with 12 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AC_PrecLand/AC_PrecLand.cpp
View File

@ -114,6 +114,14 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
// @RebootRequired: True // @RebootRequired: True
AP_GROUPINFO("LAG", 9, AC_PrecLand, _lag, 0.02f), // 20ms is the old default buffer size (8 frames @ 400hz/2.5ms) AP_GROUPINFO("LAG", 9, AC_PrecLand, _lag, 0.02f), // 20ms is the old default buffer size (8 frames @ 400hz/2.5ms)
// @Param: XY_DIST_MAX
// @DisplayName: Precision Landing maximum distance to target before descending
// @Description: The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.
// @Range: 0 10
// @Units: m
// @User: Advanced
AP_GROUPINFO("XY_DIST_MAX", 10, AC_PrecLand, _xy_max_dist_desc, 2.5f),
AP_GROUPEND AP_GROUPEND
}; };

5
libraries/AC_PrecLand/AC_PrecLand.h
View File

@ -45,6 +45,9 @@ public:
// returns time of last time target was seen // returns time of last time target was seen
uint32_t last_backend_los_meas_ms() const { return _last_backend_los_meas_ms; } uint32_t last_backend_los_meas_ms() const { return _last_backend_los_meas_ms; }
// vehicle has to be closer than this many cm's to the target before descending towards target
float get_max_xy_error_before_descending_cm() const { return _xy_max_dist_desc * 100.0f; }
// returns ekf outlier count // returns ekf outlier count
uint32_t ekf_outlier_count() const { return _outlier_reject_count; } uint32_t ekf_outlier_count() const { return _outlier_reject_count; }
@ -116,7 +119,7 @@ private:
AP_Float _land_ofs_cm_y; // Desired landing position of the camera right of the target in vehicle body frame AP_Float _land_ofs_cm_y; // Desired landing position of the camera right of the target in vehicle body frame
AP_Float _accel_noise; // accelerometer process noise AP_Float _accel_noise; // accelerometer process noise
AP_Vector3f _cam_offset; // Position of the camera relative to the CG AP_Vector3f _cam_offset; // Position of the camera relative to the CG
AP_Float _xy_max_dist_desc; // Vehicle doing prec land will only descent vertically when horizontal error (in m) is below this limit
uint32_t _last_update_ms; // system time in millisecond when update was last called uint32_t _last_update_ms; // system time in millisecond when update was last called
bool _target_acquired; // true if target has been seen recently after estimator is initialized bool _target_acquired; // true if target has been seen recently after estimator is initialized
bool _estimator_initialized; // true if estimator has been initialized after few seconds of the target being detected by sensor bool _estimator_initialized; // true if estimator has been initialized after few seconds of the target being detected by sensor