forked from Archive/PX4-Autopilot
fw pos ctrl: absorb fw_lnd_rel_ter into fw_lnd_useter parameter
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@ -1686,13 +1686,10 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
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_landing_approach_entrance_rel_alt);
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const float terrain_alt = getLandingTerrainAltitudeEstimate(now, pos_sp_curr.alt);
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float altitude_setpoint;
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const float glide_slope_reference_alt = (_param_fw_lnd_useter.get() ==
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TerrainEstimateUseOnLanding::kFollowTerrainRelativeLandingGlideSlope) ? terrain_alt : pos_sp_curr.alt;
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// by default the landing waypoint altitude is used for the glide slope reference. this ensures a constant slope
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// during the landing approach, despite any terrain bumps (think tall trees below the landing approach) disrupting
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// the glide behavior. in this case, when FW_LND_USETER==1, the terrain estimate is only used to trigger the flare.
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// however - the option still exists to make the glide slope terrain relative via FW_LND_TER_REL.
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const float glide_slope_reference_alt = (_param_fw_lnd_ter_rel.get()) ? terrain_alt : pos_sp_curr.alt;
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float altitude_setpoint;
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if (_current_altitude > glide_slope_reference_alt + glide_slope_rel_alt) {
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// descend to the glide slope
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@ -1706,6 +1703,7 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
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// flare at the maximum of the altitude determined by the time before touchdown and a minimum flare altitude
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const float flare_rel_alt = math::max(_param_fw_lnd_fl_time.get() * _local_pos.vz, _param_fw_lnd_flalt.get());
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// the terrain estimate (if enabled) is always used to determine the flaring altitude
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if ((_current_altitude < terrain_alt + flare_rel_alt) || _flaring) {
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// flare and land with minimal speed
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@ -2655,7 +2653,7 @@ FixedwingPositionControl::calculateLandingApproachVector() const
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float
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FixedwingPositionControl::getLandingTerrainAltitudeEstimate(const hrt_abstime &now, const float land_point_altitude)
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{
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if (_param_fw_lnd_useter.get()) {
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if (_param_fw_lnd_useter.get() > TerrainEstimateUseOnLanding::kDisableTerrainEstimation) {
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if (_local_pos.dist_bottom_valid) {
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@ -350,6 +350,12 @@ private:
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// [us] time at which we had last valid terrain alt
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hrt_abstime _last_time_terrain_alt_was_valid{0};
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enum TerrainEstimateUseOnLanding {
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kDisableTerrainEstimation = 0,
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kTriggerFlareWithTerrainEstimate,
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kFollowTerrainRelativeLandingGlideSlope
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};
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// AIRSPEED
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float _airspeed{0.0f};
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@ -794,7 +800,7 @@ private:
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(ParamFloat<px4::params::FW_LND_FLALT>) _param_fw_lnd_flalt,
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(ParamFloat<px4::params::FW_LND_THRTC_SC>) _param_fw_thrtc_sc,
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(ParamBool<px4::params::FW_LND_EARLYCFG>) _param_fw_lnd_earlycfg,
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(ParamBool<px4::params::FW_LND_USETER>) _param_fw_lnd_useter,
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(ParamInt<px4::params::FW_LND_USETER>) _param_fw_lnd_useter,
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(ParamFloat<px4::params::FW_P_LIM_MAX>) _param_fw_p_lim_max,
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(ParamFloat<px4::params::FW_P_LIM_MIN>) _param_fw_p_lim_min,
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@ -856,8 +862,7 @@ private:
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(ParamFloat<px4::params::FW_LND_FL_SINK>) _param_fw_lnd_fl_sink,
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(ParamFloat<px4::params::FW_LND_TD_OFF>) _param_fw_lnd_td_off,
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(ParamInt<px4::params::FW_LND_NUDGE>) _param_fw_lnd_nudge,
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(ParamInt<px4::params::FW_LND_ABORT>) _param_fw_lnd_abort,
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(ParamBool<px4::params::FW_LND_TER_REL>) _param_fw_lnd_ter_rel
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(ParamInt<px4::params::FW_LND_ABORT>) _param_fw_lnd_abort
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)
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};
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@ -411,14 +411,20 @@ PARAM_DEFINE_FLOAT(FW_TKO_PITCH_MIN, 10.0f);
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PARAM_DEFINE_FLOAT(FW_LND_FLALT, 0.5f);
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/**
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* Use terrain estimate during landing. This is critical for detecting when to flare, and should be enabled if possible.
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* Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible.
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*
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* If enabled and no measurement is found within a given timeout, the landing waypoint will be used or the
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* landing will be aborted, depending on the criteria set in FW_LND_ABORT.
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* NOTE: terrain estimate is currently solely derived from a distance sensor.
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*
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* If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing
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* will be aborted, depending on the criteria set in FW_LND_ABORT.
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*
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* If disabled, FW_LND_ABORT terrain based criteria are ignored.
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*
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* @boolean
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* @min 0
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* @max 2
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* @value 0 Disable the terrain estimate
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* @value 1 Use the terrain estimate to trigger the flare (only)
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* @value 2 Calculate landing glide slope relative to the terrain estimate
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* @group FW L1 Control
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*/
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PARAM_DEFINE_INT32(FW_LND_USETER, 1);
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@ -1070,17 +1076,3 @@ PARAM_DEFINE_INT32(FW_LND_NUDGE, 2);
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* @group FW L1 Control
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*/
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PARAM_DEFINE_INT32(FW_LND_ABORT, 3);
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/**
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* Calculate the landing glide slope relative to the terrain estimate.
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*
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* If enabled, the terrain estimate (e.g. via distance sensor) will be used as the glide slope reference altitude, following
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* all bumps in the terrain below the landing approach.
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*
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* If disabled, the land waypoint altitude will be a fixed glide slope reference, and the distance sensor (if enabled via
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* FW_LND_USETER) will only be used to trigger the flare.
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*
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* @boolean
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* @group FW L1 Control
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*/
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PARAM_DEFINE_INT32(FW_LND_TER_REL, 0);
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