px4-firmware/msg/position_controller_landing...

uint64 timestamp # [us] time since system start
float32 lateral_touchdown_offset # [m] lateral touchdown position offset manually commanded during landing
bool flaring # true if the aircraft is flaring

# abort status is:
# 0 if not aborted
# >0 if aborted, with the singular abort criterion which triggered the landing abort enumerated by the following abort reasons
uint8 abort_status

# abort reasons
# after the manual operator abort, corresponds to individual bits of param FW_LND_ABORT
uint8 kNotAborted = 0
uint8 kAbortedByOperator = 1
uint8 kTerrainNotFound = 2 # FW_LND_ABORT (1 << 0)
uint8 kTerrainTimeout = 3 # FW_LND_ABORT (1 << 1)
uint8 kUnknownAbortCriterion = 4
fw pos ctrl: auto landing refactor - landing slope/curve library removed - flare curve removed (the position setpoints will not be tracked during a flare, and were being ignored by open-loop maneuvers anyway) - flare curve replaced by simply commanding a constant glide slope to the ground from the approach entrance, and commanding a sink rate once below flaring alt - flare is now time-to-touchdown -based to account for differing descent rates (e.g. due to wind) - flare pitch limits and height rate commands are ramped in from the previous iteration's values at flare onset to avoid jumpy commands - TECS controls all aspects of the auto landing airspeed and altitude/height rate, and is only constrained by pitch and throttle limits (lessening unintuitive open loop manuever overrides) - throttle is killed on flare - flare is the singular point of no return during landing - lateral manual nudging of the touchdown point is configurable via parameter, allowing the operator to nudge (via remote) either the touchdown point itself (adjusting approach vector) or shifting the entire approach path to the left or right. this helps when GCS map or GNSS uncertainties set the aircraft on a slightly offset approach" 2022-06-14 19:02:36 -03:00			`uint64 timestamp # [us] time since system start`
			`float32 lateral_touchdown_offset # [m] lateral touchdown position offset manually commanded during landing`
fw pos ctrl: refactor terrain estimate and land abort - improve terrain estiamte documentation - add landing abort condition bitmasked parameter to choose abort conditions - refactor terrain estimate getter with landing abort logic - log abort status and inform user - log flaring status 2022-07-13 19:11:44 -03:00			`bool flaring # true if the aircraft is flaring`
fw pos ctrl: rework landing abort status abort boolean and reasons no longer separated, single status field with corresponding abort triggers 2022-07-18 05:51:11 -03:00
			`# abort status is:`
			`# 0 if not aborted`
			`# >0 if aborted, with the singular abort criterion which triggered the landing abort enumerated by the following abort reasons`
			`uint8 abort_status`
fw pos ctrl: refactor terrain estimate and land abort - improve terrain estiamte documentation - add landing abort condition bitmasked parameter to choose abort conditions - refactor terrain estimate getter with landing abort logic - log abort status and inform user - log flaring status 2022-07-13 19:11:44 -03:00
			`# abort reasons`
fw pos ctrl: rework landing abort status abort boolean and reasons no longer separated, single status field with corresponding abort triggers 2022-07-18 05:51:11 -03:00			`# after the manual operator abort, corresponds to individual bits of param FW_LND_ABORT`
			`uint8 kNotAborted = 0`
			`uint8 kAbortedByOperator = 1`
			`uint8 kTerrainNotFound = 2 # FW_LND_ABORT (1 << 0)`
			`uint8 kTerrainTimeout = 3 # FW_LND_ABORT (1 << 1)`
			`uint8 kUnknownAbortCriterion = 4`