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AP_Landing: Deepstall: Allow requiring a minimum altitude to abort a landing

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This commit is contained in:
Michael du Breuil 2017-07-15 00:06:40 -07:00 committed by Tom Pittenger
parent 202b40562f
commit e092a83ca2
2 changed files with 18 additions and 2 deletions
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15
libraries/AP_Landing/AP_Landing_Deepstall.cpp
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@ -128,6 +128,14 @@ const AP_Param::GroupInfo AP_Landing_Deepstall::var_info[] = {
// @Path: ../PID/PID.cpp // @Path: ../PID/PID.cpp
AP_SUBGROUPINFO(ds_PID, "", 14, AP_Landing_Deepstall, PID), AP_SUBGROUPINFO(ds_PID, "", 14, AP_Landing_Deepstall, PID),
// @Param: ABORTALT
// @DisplayName: Deepstall minimum abort altitude
// @Description: The minimum altitude which the aircraft must be above to abort a deepstall landing
// @Range: 0 50
// @Units meters
// @User: Advanced
AP_GROUPINFO("ABORTALT", 15, AP_Landing_Deepstall, min_abort_alt, 0.0f),
AP_GROUPEND AP_GROUPEND
}; };
@ -336,8 +344,15 @@ bool AP_Landing_Deepstall::override_servos(void)
bool AP_Landing_Deepstall::request_go_around(void) bool AP_Landing_Deepstall::request_go_around(void)
{ {
float current_altitude_d;
landing.ahrs.get_relative_position_D_home(current_altitude_d);
if (is_zero(min_abort_alt) || -current_altitude_d > min_abort_alt) {
landing.flags.commanded_go_around = true; landing.flags.commanded_go_around = true;
return true; return true;
} else {
return false;
}
} }
bool AP_Landing_Deepstall::is_throttle_suppressed(void) const bool AP_Landing_Deepstall::is_throttle_suppressed(void) const

1
libraries/AP_Landing/AP_Landing_Deepstall.h
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@ -67,6 +67,7 @@ private:
AP_Float L1_i; AP_Float L1_i;
AP_Float yaw_rate_limit; AP_Float yaw_rate_limit;
AP_Float time_constant; AP_Float time_constant;
AP_Float min_abort_alt;
int32_t loiter_sum_cd; // used for tracking the progress on loitering int32_t loiter_sum_cd; // used for tracking the progress on loitering
deepstall_stage stage; deepstall_stage stage;
Location landing_point; Location landing_point;