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Plane: support much smoother flare transitions

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provide the height above the ground to TECS so it can make a smarter
pre-flare transition
This commit is contained in:
Andrew Tridgell 2015-03-15 13:53:08 +11:00
parent 8fc58d1cbe
commit 1c1798fb11
4 changed files with 29 additions and 6 deletions
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4
ArduPlane/ArduPlane.pde
View File

@ -892,7 +892,7 @@ static void update_speed_height(void)
// Call TECS 50Hz update. Note that we call this regardless of
// throttle suppressed, as this needs to be running for
// takeoff detection
SpdHgt_Controller->update_50hz(relative_altitude());
SpdHgt_Controller->update_50hz(tecs_hgt_afe());
}
}
@ -1519,7 +1519,7 @@ static void update_flight_stage(void)
flight_stage,
auto_state.takeoff_pitch_cd,
throttle_nudge,
relative_altitude(),
tecs_hgt_afe(),
aerodynamic_load_factor);
if (should_log(MASK_LOG_TECS)) {
Log_Write_TECS_Tuning();

1
ArduPlane/Parameters.h
View File

@ -437,7 +437,6 @@ public:
AP_Int32 airspeed_cruise_cm;
AP_Int32 RTL_altitude_cm;
AP_Float land_flare_alt;
AP_Float land_flare_sec;
AP_Int32 min_gndspeed_cm;
AP_Int16 pitch_trim_cd;
AP_Int16 FBWB_min_altitude_cm;

2
ArduPlane/Parameters.pde
View File

@ -230,7 +230,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Units: seconds
// @Increment: 0.1
// @User: Advanced
GSCALAR(land_flare_sec, "LAND_FLARE_SEC", 2.0),
ASCALAR(land_flare_sec, "LAND_FLARE_SEC", 2.0),
// @Param: NAV_CONTROLLER
// @DisplayName: Navigation controller selection

28
ArduPlane/landing.pde
View File

@ -51,7 +51,7 @@ static bool verify_land()
after landing if we've had positive baro drift)
*/
if (height <= g.land_flare_alt ||
height <= auto_state.land_sink_rate * g.land_flare_sec ||
height <= auto_state.land_sink_rate * aparm.land_flare_sec ||
(!rangefinder_state.in_range && location_passed_point(current_loc, prev_WP_loc, next_WP_loc))) {
if (!auto_state.land_complete) {
@ -129,7 +129,7 @@ static void setup_landing_glide_slope(void)
float sink_rate = sink_height / sink_time;
// the height we aim for is the one to give us the right flare point
float aim_height = g.land_flare_sec * sink_rate;
float aim_height = aparm.land_flare_sec * sink_rate;
// don't allow the aim height to be too far above LAND_FLARE_ALT
if (g.land_flare_alt > 0 && aim_height > g.land_flare_alt*2) {
@ -198,3 +198,27 @@ static bool jump_to_landing_sequence(void)
gcs_send_text_P(SEVERITY_HIGH, PSTR("Unable to start landing sequence."));
return false;
}
/*
the height above field elevation that we pass to TECS
*/
static float tecs_hgt_afe(void)
{
/*
pass the height above field elevation as the height above
the ground when in landing, which means that TECS gets the
rangefinder information and thus can know when the flare is
coming.
*/
float hgt_afe;
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH) {
hgt_afe = height_above_target();
hgt_afe -= rangefinder_correction();
} else {
// when in normal flight we pass the hgt_afe as relative
// altitude to home
hgt_afe = relative_altitude();
}
return hgt_afe;
}