Navigator: remove MIS_LTRMIN_ALT param, and use new param MIS_LND_ABRT_ALT for landing abort

MIS_LTRMIN_ALt was used to limit the go-to altitude of a LOITER_TO_ALT (not the exit altitude,
but the altitude that the vehicle went to to fly to WP), and during landing abort to climb to
at least this altitude. The min entry altitude of LOITER_TO_ALT I remove with this commit, while
for the min alt during abort I added the new parameter MIS_LND_ABRT_ALT.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -41,7 +41,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal

@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000

ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric

@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000

ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod

@@ -27,7 +27,6 @@ param set-default FW_L1_PERIOD 12
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo

@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -34,7 +34,6 @@ param set-default FW_T_TAS_TC 2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1039_advanced_plane

@@ -31,7 +31,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1

@@ -25,7 +25,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -20,7 +20,6 @@ param set-default FW_W_EN 1
 
 param set-default FW_RR_P 0.08
 
-param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 3
 
 param set-default NAV_ACC_RAD 20

ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2

@@ -20,7 +20,6 @@ param set-default FW_W_EN 1
 
 param set-default FW_RR_P 0.08
 
-param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 7
 
 param set-default NAV_ACC_RAD 20

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -31,7 +31,6 @@ param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.2
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.3
-param set-default MIS_LTRMIN_ALT 10
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10
 

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -39,7 +39,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -44,7 +44,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -45,7 +45,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5

ROMFS/px4fmu_common/init.d/rc.boat_defaults

@@ -13,7 +13,6 @@ param set-default MAV_TYPE 11
 #
 # Default parameters for UGVs.
 #
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -43,7 +43,6 @@ param set-default RTL_LAND_DELAY -1
 param set-default NAV_ACC_RAD 10
 
 param set-default MIS_DIST_WPS 5000
-param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25
 param set-default MIS_TKO_LAND_REQ 2
 

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -13,7 +13,6 @@ param set-default MAV_TYPE 10
 #
 # Default parameters for UGVs.
 #
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2

src/modules/navigator/mission.cpp

@@ -1436,15 +1436,14 @@ Mission::cruising_speed_sp_update()
 void
 Mission::do_abort_landing()
 {
-	// Abort FW landing
+	// Abort FW landing, loiter above landing site in at least MIS_LND_ABRT_ALT
-	//  first climb out then loiter over intended landing location
 
 	if (_mission_item.nav_cmd != NAV_CMD_LAND) {
 		return;
 	}
 
 	const float alt_landing = get_absolute_altitude_for_item(_mission_item);
-	const float alt_sp = math::max(alt_landing + _navigator->get_loiter_min_alt(),
+	const float alt_sp = math::max(alt_landing + _navigator->get_landing_abort_min_alt(),
 				       _navigator->get_global_position()->alt);
 
 	// turn current landing waypoint into an indefinite loiter
@@ -1469,10 +1468,10 @@ Mission::do_abort_landing()
 	publish_navigator_mission_item(); // for logging
 	_navigator->set_position_setpoint_triplet_updated();
 
-	mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %d m above landing.\t",
+	mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %d m above landing waypoint.\t",
 			 (int)(alt_sp - alt_landing));
 	events::send<float>(events::ID("mission_holding_above_landing"), events::Log::Info,
-			    "Holding at {1:.0m_v} above landing", alt_sp - alt_landing);
+			    "Holding at {1:.0m_v} above landing waypoint", alt_sp - alt_landing);
 
 	// reset mission index to start of landing
 	if (_land_start_available) {

src/modules/navigator/mission_block.cpp

@@ -732,15 +732,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
 		break;
 
 	case NAV_CMD_LOITER_TO_ALT:
-
+		sp->alt = _navigator->get_global_position()->alt;
-		// initially use current altitude, and switch to mission item altitude once in loiter position
-		if (_navigator->get_loiter_min_alt() > 0.f) { // ignore _param_loiter_min_alt if smaller than 0
-			sp->alt = math::max(_navigator->get_global_position()->alt,
-					    _navigator->get_home_position()->alt + _navigator->get_loiter_min_alt());
-
-		} else {
-			sp->alt = _navigator->get_global_position()->alt;
-		}
 
 	// FALLTHROUGH
 	case NAV_CMD_LOITER_TIME_LIMIT:

src/modules/navigator/mission_params.c

@@ -72,21 +72,6 @@ PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f);
  */
 PARAM_DEFINE_INT32(MIS_TKO_LAND_REQ, 0);
 
-/**
- * Minimum Loiter altitude
- *
- * This is the minimum altitude the system will always obey. The intent is to stay out of ground effect.
- * set to -1, if there shouldn't be a minimum loiter altitude
- *
- * @unit m
- * @min -1
- * @max 80
- * @decimal 1
- * @increment 0.5
- * @group Mission
- */
-PARAM_DEFINE_FLOAT(MIS_LTRMIN_ALT, -1.0f);
-
 /**
  * Maximal horizontal distance from home to first waypoint
  *
@@ -172,3 +157,16 @@ PARAM_DEFINE_FLOAT(MIS_YAW_ERR, 12.0f);
  * @group Mission
  */
 PARAM_DEFINE_FLOAT(MIS_PD_TO, 5.0f);
+
+/**
+ * Landing abort min altitude
+ *
+ * Minimum altitude above landing point that the vehicle will climb to after an aborted landing.
+ * Then vehicle will loiter in this altitude until further command is received.
+ * Only applies to fixed-wing vehicles.
+ *
+ * @unit m
+ * @min 0
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(MIS_LND_ABRT_ALT, 30);

src/modules/navigator/navigator.h

@@ -304,7 +304,7 @@ public:
 	void geofence_breach_check(bool &have_geofence_position_data);
 
 	// Param access
-	float get_loiter_min_alt() const { return _param_mis_ltrmin_alt.get(); }
+	int get_landing_abort_min_alt() const { return _param_mis_lnd_abrt_alt.get(); }
 	float get_takeoff_min_alt() const { return _param_mis_takeoff_alt.get(); }
 	int  get_takeoff_land_required() const { return _para_mis_takeoff_land_req.get(); }
 	float get_yaw_timeout() const { return _param_mis_yaw_tmt.get(); }
@@ -447,12 +447,12 @@ private:
 		(ParamFloat<px4::params::NAV_TRAFF_A_RADM>) _param_nav_traff_a_radm,	/**< avoidance Distance Manned*/
 
 		// non-navigator parameters: Mission (MIS_*)
-		(ParamFloat<px4::params::MIS_LTRMIN_ALT>)  _param_mis_ltrmin_alt,
 		(ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt,
 		(ParamInt<px4::params::MIS_TKO_LAND_REQ>)  _para_mis_takeoff_land_req,
 		(ParamFloat<px4::params::MIS_YAW_TMT>)     _param_mis_yaw_tmt,
 		(ParamFloat<px4::params::MIS_YAW_ERR>)     _param_mis_yaw_err,
 		(ParamFloat<px4::params::MIS_PD_TO>)       _param_mis_payload_delivery_timeout,
-		(ParamFloat<px4::params::LNDMC_ALT_MAX>)   _param_lndmc_alt_max
+		(ParamFloat<px4::params::LNDMC_ALT_MAX>)   _param_lndmc_alt_max,
+		(ParamInt<px4::params::MIS_LND_ABRT_ALT>)  _param_mis_lnd_abrt_alt
 	)
 };

src/modules/navigator/rtl.cpp

@@ -336,14 +336,7 @@ void RTL::set_rtl_item()
 	switch (_rtl_state) {
 	case RTL_STATE_CLIMB: {
 
-			// do not use LOITER_TO_ALT for rotary wing mode as it would then always climb to at least MIS_LTRMIN_ALT,
+			_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
-			// even if current climb altitude is below (e.g. RTL immediately after take off)
-			if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
-				_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
-
-			} else {
-				_mission_item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
-			}
 
 			_mission_item.lat = gpos.lat;
 			_mission_item.lon = gpos.lon;