mirror of https://github.com/ArduPilot/ardupilot
Plane: improve target airspeed in landing approach
if the user hasn't set TECS_LAND_ARSPD then we can use an airspeed between ARSPD_FBW_MIN and TRIM_ARSPD_CM when on approach this also fixes landing_desired_closing_velocity() to never go above the landing target speed, so we don't try to speed up if we are starting the landing sequence too early
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@ -3923,6 +3923,16 @@ Vector2f QuadPlane::landing_desired_closing_velocity()
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// base target speed based on sqrt of distance
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float target_speed = safe_sqrt(2*transition_decel*dist);
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// don't let the target speed go above landing approach speed
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const float eas2tas = plane.ahrs.get_EAS2TAS();
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float land_speed = plane.aparm.airspeed_cruise_cm * 0.01;
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float tecs_land_airspeed = plane.TECS_controller.get_land_airspeed();
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if (is_positive(tecs_land_airspeed)) {
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land_speed = tecs_land_airspeed;
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}
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target_speed = MIN(target_speed, eas2tas * land_speed);
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Vector2f target_speed_xy = diff_wp.normalized() * target_speed;
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return target_speed_xy;
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@ -3933,26 +3943,38 @@ Vector2f QuadPlane::landing_desired_closing_velocity()
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*/
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float QuadPlane::get_land_airspeed(void)
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{
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if (poscontrol.get_state() == QPOS_APPROACH ||
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const auto qstate = poscontrol.get_state();
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if (qstate == QPOS_APPROACH ||
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plane.control_mode == &plane.mode_rtl) {
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float land_airspeed = plane.TECS_controller.get_land_airspeed();
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if (!is_positive(land_airspeed)) {
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land_airspeed = plane.aparm.airspeed_cruise_cm * 0.01;
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const float cruise_speed = plane.aparm.airspeed_cruise_cm * 0.01;
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float approach_speed = cruise_speed;
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float tecs_land_airspeed = plane.TECS_controller.get_land_airspeed();
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if (is_positive(tecs_land_airspeed)) {
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approach_speed = tecs_land_airspeed;
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} else {
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if (qstate == QPOS_APPROACH) {
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// default to half way between min airspeed and cruise
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// airspeed when on the approach
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approach_speed = 0.5*(cruise_speed+plane.aparm.airspeed_min);
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} else {
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// otherwise cruise
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approach_speed = cruise_speed;
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}
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}
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float cruise_airspeed = plane.aparm.airspeed_cruise_cm * 0.01;
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float time_to_landing = plane.auto_state.wp_distance / MAX(land_airspeed, 5);
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const float time_to_landing = plane.auto_state.wp_distance / MAX(approach_speed, 5);
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/*
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slow down to landing approach speed as we get closer to landing
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*/
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land_airspeed = linear_interpolate(land_airspeed, cruise_airspeed,
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time_to_landing,
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20, 60);
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return land_airspeed;
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*/
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approach_speed = linear_interpolate(approach_speed, cruise_speed,
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time_to_landing,
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20, 60);
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return approach_speed;
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}
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Vector2f vel = landing_desired_closing_velocity();
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const float eas2tas = plane.ahrs.get_EAS2TAS();
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// calculate speed based on landing desired velocity
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Vector2f vel = landing_desired_closing_velocity();
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const Vector3f wind = plane.ahrs.wind_estimate();
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const float eas2tas = plane.ahrs.get_EAS2TAS();
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vel.x -= wind.x;
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vel.y -= wind.y;
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vel /= eas2tas;
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