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Fixed-wing autoland: Fix bug that could cause a steep pitch increase and thus aircraft stall during the flare (#9674)

This commit is contained in:
Philipp Oettershagen 2018-06-14 17:29:03 +02:00 committed by Daniel Agar
parent 23cd6adbe7
commit 753ad0e0df
2 changed files with 6 additions and 4 deletions
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9
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -1478,20 +1478,21 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
if (!_land_noreturn_vertical) {
// just started with the flaring phase
_att_sp.pitch_body = 0.0f;
_flare_pitch_sp = 0.0f;
_flare_height = _global_pos.alt - terrain_alt;
mavlink_log_info(&_mavlink_log_pub, "Landing, flaring");
_land_noreturn_vertical = true;
} else {
if (_global_pos.vel_d > 0.1f) {
_att_sp.pitch_body = radians(_parameters.land_flare_pitch_min_deg) *
constrain((_flare_height - (_global_pos.alt - terrain_alt)) / _flare_height, 0.0f, 1.0f);
_flare_pitch_sp = radians(_parameters.land_flare_pitch_min_deg) *
constrain((_flare_height - (_global_pos.alt - terrain_alt)) / _flare_height, 0.0f, 1.0f);
}
// otherwise continue using previous _att_sp.pitch_body
// otherwise continue using previous _flare_pitch_sp
}
_att_sp.pitch_body = _flare_pitch_sp;
_flare_curve_alt_rel_last = flare_curve_alt_rel;
} else {

1
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
View File

@ -211,6 +211,7 @@ private:
hrt_abstime _time_last_t_alt{0}; ///< time at which we had last valid terrain alt */
float _flare_height{0.0f}; ///< estimated height to ground at which flare started */
float _flare_pitch_sp{0.0f}; ///< Current forced (i.e. not determined using TECS) flare pitch setpoint */
float _flare_curve_alt_rel_last{0.0f};
float _target_bearing{0.0f}; ///< estimated height to ground at which flare started */