Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: Use RTL_CLIMB_MIN in cone slope.

Browse Source
This commit is contained in:
Leonard Hall 2023-12-06 10:37:33 +10:30 committed by Andrew Tridgell
parent 6d546eed8f
commit e48b7cea12
2 changed files with 3 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/config.h
View File

@ -433,10 +433,6 @@
# define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL
#endif
#ifndef RTL_ABS_MIN_CLIMB
# define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb
#endif
#ifndef RTL_CONE_SLOPE_DEFAULT
# define RTL_CONE_SLOPE_DEFAULT 3.0f // slope of RTL cone (height / distance). 0 = No cone
#endif

6
ArduCopter/mode_rtl.cpp
View File

@ -483,14 +483,14 @@ void ModeRTL::compute_return_target()
int32_t target_alt = MAX(rtl_path.return_target.alt, 0);
// increase target to maximum of current altitude + climb_min and rtl altitude
target_alt = MAX(target_alt, curr_alt + MAX(0, g.rtl_climb_min));
target_alt = MAX(target_alt, MAX(g.rtl_altitude, RTL_ALT_MIN));
const float min_rtl_alt = MAX(RTL_ALT_MIN, curr_alt + MAX(0, g.rtl_climb_min));
target_alt = MAX(target_alt, MAX(g.rtl_altitude, min_rtl_alt));
// reduce climb if close to return target
float rtl_return_dist_cm = rtl_path.return_target.get_distance(rtl_path.origin_point) * 100.0f;
// don't allow really shallow slopes
if (g.rtl_cone_slope >= RTL_MIN_CONE_SLOPE) {
target_alt = MAX(curr_alt, MIN(target_alt, MAX(rtl_return_dist_cm*g.rtl_cone_slope, curr_alt+RTL_ABS_MIN_CLIMB)));
target_alt = MIN(target_alt, MAX(rtl_return_dist_cm * g.rtl_cone_slope, min_rtl_alt));
}
// set returned target alt to new target_alt (don't change altitude type)