diff options
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 6 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 13 |
2 files changed, 15 insertions, 4 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index c983ac6f9..deccab482 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -569,6 +569,12 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt)); param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative)); param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative)); + + /* check if negative value for 2/3 of flare altitude is set for throttle cut */ + if (_parameters.land_thrust_lim_alt_relative < 0.0f) { + _parameters.land_thrust_lim_alt_relative = 0.66f * _parameters.land_flare_alt_relative; + } + param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance)); param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt)); diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 41c374407..890ab3bad 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -379,18 +379,23 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); /** - * Landing flare altitude (relative) + * Landing flare altitude (relative to landing altitude) * + * @unit meter * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); +PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f); /** - * Landing throttle limit altitude (relative) + * Landing throttle limit altitude (relative landing altitude) * + * Default of -1.0f lets the system default to applying throttle + * limiting at 2/3 of the flare altitude. + * + * @unit meter * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); +PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f); /** * Landing heading hold horizontal distance |