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RTL fixes and improvements for VTOL vehicles (#21011) 

* rtl: remove unconditional transition to land after descent

This was a bug, as it renders the above code lines useless.
This would cause a undesired FW landing for VTOL vehicles if
RTL_LAND_DELAY is above 0.

* rtl: head to center after loiter in VTOL FW

To get the same behavior for RTL with and without loiter before land for
VTOL drones.

* rtl: always go to descend state after return

Previously, the state would change directly to land if in MR and
RTL_LAND_DELAY was 0.0, but we will still wish to descent to
RTL_DESCEND_ALT at descent speed, instead of using landing speeds.

* rtl: mark head to center state as part of vtol transition

The next step in the sequence is transition to MC. By setting
vtol_back_transition we ensure that the acceptance radius is adapted to
the expected transition distance.
This commit is contained in:
Knut Hjorth 2023-02-08 11:07:39 +01:00 committed by GitHub
parent 99cf1cfdfe
commit fbc80c9bf5
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 5 additions and 9 deletions
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14
src/modules/navigator/rtl.cpp
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@ -501,6 +501,9 @@ void RTL::set_rtl_item()
_mission_item.yaw = _navigator->get_local_position()->heading;
}
_mission_item.vtol_back_transition = true;
// acceptance_radius will be overwritten since vtol_back_transition is set,
// set as a default value only
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true;
@ -613,13 +616,7 @@ void RTL::advance_rtl()
break;
case RTL_STATE_RETURN:
if (vtol_in_fw_mode || descend_and_loiter) {
_rtl_state = RTL_STATE_DESCEND;
} else {
_rtl_state = RTL_STATE_LAND;
}
_rtl_state = RTL_STATE_DESCEND;
break;
case RTL_STATE_DESCEND:
@ -639,13 +636,12 @@ void RTL::advance_rtl()
case RTL_STATE_LOITER:
if (vtol_in_fw_mode) {
_rtl_state = RTL_STATE_TRANSITION_TO_MC;
_rtl_state = RTL_STATE_HEAD_TO_CENTER;
} else {
_rtl_state = RTL_STATE_LAND;
}
_rtl_state = RTL_STATE_LAND;
break;
case RTL_STATE_HEAD_TO_CENTER: