diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/landingslope.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/landingslope.cpp | 12 |
1 files changed, 5 insertions, 7 deletions
diff --git a/src/modules/fw_pos_control_l1/landingslope.cpp b/src/modules/fw_pos_control_l1/landingslope.cpp index a2d8525b9..b139a6397 100644 --- a/src/modules/fw_pos_control_l1/landingslope.cpp +++ b/src/modules/fw_pos_control_l1/landingslope.cpp @@ -1,9 +1,7 @@ /**************************************************************************** * * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,7 +35,6 @@ /* * @file: landingslope.cpp * - * @author: Thomas Gubler <thomasgubler@gmail.com> */ #include "landingslope.h" @@ -74,11 +71,12 @@ void Landingslope::calculateSlopeValues() float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude) { - return (wp_distance - _horizontal_slope_displacement) * tanf(_landing_slope_angle_rad) + wp_altitude; //flare_relative_alt is negative + return Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad); } -float Landingslope::getFlarceCurveAltitude(float wp_distance, float wp_altitude) +float Landingslope::getFlareCurveAltitude(float wp_landing_distance, float wp_landing_altitude) { - return wp_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_distance)/_flare_constant) - _H1_virt; + return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt; + } |