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Plane: Support vtol landing options on NAV_VTOL_LAND 

This allows the same mission to contain both circular and straight
landing items, and doesn't require on the fly tweaking
This commit is contained in:
Michael du Breuil 2022-06-30 14:43:06 -07:00 committed by WickedShell
parent f5ca2c9e7a
commit f183b21fc5
6 changed files with 21 additions and 9 deletions
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2
ArduPlane/GCS_Mavlink.cpp
View File

@ -982,7 +982,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
const bool attempt_go_around =
(!plane.quadplane.available()) ||
((!plane.quadplane.in_vtol_auto()) &&
!plane.quadplane.option_is_set(QuadPlane::OPTION::MISSION_LAND_FW_APPROACH));
(!plane.quadplane.landing_with_fixed_wing_spiral_approach()));
#else
const bool attempt_go_around = true;
#endif

2
ArduPlane/altitude.cpp
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@ -180,7 +180,7 @@ float Plane::relative_ground_altitude(bool use_rangefinder_if_available)
#if HAL_QUADPLANE_ENABLED
if (quadplane.in_vtol_land_descent() &&
!quadplane.option_is_set(QuadPlane::OPTION::MISSION_LAND_FW_APPROACH)) {
!quadplane.landing_with_fixed_wing_spiral_approach()) {
// when doing a VTOL landing we can use the waypoint height as
// ground height. We can't do this if using the
// LAND_FW_APPROACH as that uses the wp height as the approach

4
ArduPlane/commands_logic.cpp
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@ -98,7 +98,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
return quadplane.do_vtol_takeoff(cmd);
case MAV_CMD_NAV_VTOL_LAND:
if (quadplane.option_is_set(QuadPlane::OPTION::MISSION_LAND_FW_APPROACH)) {
if (quadplane.landing_with_fixed_wing_spiral_approach()) {
// the user wants to approach the landing in a fixed wing flight mode
// the waypoint will be used as a loiter_to_alt
// after which point the plane will compute the optimal into the wind direction
@ -286,7 +286,7 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
case MAV_CMD_NAV_VTOL_TAKEOFF:
return quadplane.verify_vtol_takeoff(cmd);
case MAV_CMD_NAV_VTOL_LAND:
if (quadplane.option_is_set(QuadPlane::OPTION::MISSION_LAND_FW_APPROACH) && !verify_landing_vtol_approach(cmd)) {
if (quadplane.landing_with_fixed_wing_spiral_approach() && !verify_landing_vtol_approach(cmd)) {
// verify_landing_vtol_approach will return true once we have completed the approach,
// in which case we fall over to normal vtol landing code
return false;

2
ArduPlane/navigation.cpp
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@ -113,7 +113,7 @@ void Plane::navigate()
float Plane::mode_auto_target_airspeed_cm()
{
#if HAL_QUADPLANE_ENABLED
if (quadplane.option_is_set(QuadPlane::OPTION::MISSION_LAND_FW_APPROACH) &&
if (quadplane.landing_with_fixed_wing_spiral_approach() &&
((vtol_approach_s.approach_stage == Landing_ApproachStage::APPROACH_LINE) ||
(vtol_approach_s.approach_stage == Landing_ApproachStage::VTOL_LANDING))) {
const float land_airspeed = TECS_controller.get_land_airspeed();

15
ArduPlane/quadplane.cpp
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@ -257,8 +257,8 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: OPTIONS
// @DisplayName: quadplane options
// @Description: Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Use FW Approach:Use a fixed wing approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming, ThrLandControl: enable throttle stick control of landing rate, DisableApproach: Disable use of approach and airbrake stages in VTOL landing, EnableLandResposition: enable pilot controlled repositioning in AUTO land. Descent will pause while repositioning. ARMVTOL: Arm only in VTOL or AUTO modes. CompleteTransition: to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND. Force RTL mode: forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL).
// @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandReposition,18:ARMVtol, 19: CompleteTransition if Q_TRANS_FAIL, 20: Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL)
// @Description: Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Always use FW spiral approach:Always use Use a fixed wing spiral approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming, ThrLandControl: enable throttle stick control of landing rate, DisableApproach: Disable use of approach and airbrake stages in VTOL landing, EnableLandResposition: enable pilot controlled repositioning in AUTO land. Descent will pause while repositioning. ARMVTOL: Arm only in VTOL or AUTO modes. CompleteTransition: to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND. Force RTL mode: forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL).
// @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Always use FW spiral approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes,15:ThrLandControl,16:DisableApproach,17:EnableLandReposition,18:ARMVtol, 19: CompleteTransition if Q_TRANS_FAIL, 20: Force RTL mode on VTOL failsafes overriding bit 5(USE QRTL)
AP_GROUPINFO("OPTIONS", 58, QuadPlane, options, 0),
AP_SUBGROUPEXTENSION("",59, QuadPlane, var_info2),
@ -3704,7 +3704,7 @@ bool QuadPlane::is_vtol_takeoff(uint16_t id) const
bool QuadPlane::is_vtol_land(uint16_t id) const
{
if (id == MAV_CMD_NAV_VTOL_LAND) {
if (option_is_set(QuadPlane::OPTION::MISSION_LAND_FW_APPROACH)) {
if (landing_with_fixed_wing_spiral_approach()) {
return plane.vtol_approach_s.approach_stage == Plane::Landing_ApproachStage::VTOL_LANDING;
} else {
return true;
@ -4299,4 +4299,13 @@ bool QuadPlane::allow_servo_auto_trim()
return false;
}
bool QuadPlane::landing_with_fixed_wing_spiral_approach(void) const
{
const AP_Mission::Mission_Command cmd = plane.mission.get_current_nav_cmd();
return ((cmd.id == MAV_CMD_NAV_VTOL_LAND) &&
(option_is_set(QuadPlane::OPTION::MISSION_LAND_FW_APPROACH) ||
cmd.p1 == NAV_VTOL_LAND_OPTIONS_FW_SPIRAL_APPROACH));
}
#endif // HAL_QUADPLANE_ENABLED

5
ArduPlane/quadplane.h
View File

@ -622,7 +622,10 @@ private:
are we in the airbrake phase of a VTOL landing?
*/
bool in_vtol_airbrake(void) const;
// returns true if the vehicle should currently be doing a spiral landing
bool landing_with_fixed_wing_spiral_approach(void) const;
// Q assist state, can be enabled, disabled or force. Default to enabled
Q_ASSIST_STATE_ENUM q_assist_state = Q_ASSIST_STATE_ENUM::Q_ASSIST_ENABLED;