diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/landingslope.h')
| -rw-r--r-- | src/modules/fw_pos_control_l1/landingslope.h | 21 |
1 files changed, 16 insertions, 5 deletions
diff --git a/src/modules/fw_pos_control_l1/landingslope.h b/src/modules/fw_pos_control_l1/landingslope.h index 1a149fc7c..76d65a55f 100644 --- a/src/modules/fw_pos_control_l1/landingslope.h +++ b/src/modules/fw_pos_control_l1/landingslope.h @@ -49,7 +49,7 @@ private: /* see Documentation/fw_landing.png for a plot of the landing slope */ float _landing_slope_angle_rad; /**< phi in the plot */ float _flare_relative_alt; /**< h_flare,rel in the plot */ - float _motor_lim_horizontal_distance; + float _motor_lim_relative_alt; float _H1_virt; /**< H1 in the plot */ float _H0; /**< h_flare,rel + H1 in the plot */ float _d1; /**< d1 in the plot */ @@ -63,7 +63,18 @@ public: Landingslope() {} ~Landingslope() {} - float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude); + /** + * + * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance + */ + float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude); + + /** + * + * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance + * Performs check if aircraft is in front of waypoint to avoid climbout + */ + float getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude); /** * @@ -85,17 +96,17 @@ public: } - float getFlareCurveAltitude(float wp_distance, float wp_altitude); + float getFlareCurveAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude); void update(float landing_slope_angle_rad, float flare_relative_alt, - float motor_lim_horizontal_distance, + float motor_lim_relative_alt, float H1_virt); inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;} inline float flare_relative_alt() {return _flare_relative_alt;} - inline float motor_lim_horizontal_distance() {return _motor_lim_horizontal_distance;} + inline float motor_lim_relative_alt() {return _motor_lim_relative_alt;} inline float H1_virt() {return _H1_virt;} inline float H0() {return _H0;} inline float d1() {return _d1;} |