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Copter: added LAND_SPEED_HIGH parameter

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this is the descent rate for the first part of a landing. Separating
this from WPNAV_SPEED_DN allows for independent tuning of fast fwd
flight from landings
This commit is contained in:
Andrew Tridgell 2016-03-30 12:03:41 +11:00
parent a502c0924c
commit f19922fec5
3 changed files with 15 additions and 0 deletions
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9
ArduCopter/Parameters.cpp
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@ -251,6 +251,15 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Standard
GSCALAR(land_speed, "LAND_SPEED", LAND_SPEED),
// @Param: LAND_SPEED_HIGH
// @DisplayName: Land speed high
// @Description: The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used
// @Units: cm/s
// @Range: 0 500
// @Increment: 10
// @User: Standard
GSCALAR(land_speed_high, "LAND_SPEED_HIGH", 0),
// @Param: PILOT_VELZ_MAX
// @DisplayName: Pilot maximum vertical speed
// @Description: The maximum vertical velocity the pilot may request in cm/s

2
ArduCopter/Parameters.h
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@ -321,6 +321,7 @@ public:
k_param_land_speed,
k_param_auto_velocity_z_min, // remove
k_param_auto_velocity_z_max, // remove - 219
k_param_land_speed_high,
//
// 220: PI/D Controllers
@ -405,6 +406,7 @@ public:
//
AP_Int32 rtl_loiter_time;
AP_Int16 land_speed;
AP_Int16 land_speed_high;
AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request
AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request

4
ArduCopter/control_land.cpp
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@ -230,6 +230,10 @@ float Copter::get_land_descent_speed()
#endif
// if we are above 10m and the sonar does not sense anything perform regular alt hold descent
if (pos_control.get_pos_target().z >= pv_alt_above_origin(LAND_START_ALT) && !(sonar_ok && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
if (g.land_speed_high > 0) {
// user has asked for a different landing speed than normal descent rate
return -abs(g.land_speed_high);
}
return pos_control.get_speed_down();
}else{
return -abs(g.land_speed);