diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 12 |
1 files changed, 8 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 94b3b75ba..9704eacb9 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 @@ -163,6 +163,7 @@ private: bool land_noreturn_horizontal; bool land_noreturn_vertical; bool land_stayonground; + bool land_motor_lim; float flare_curve_alt_last; /* heading hold */ float target_bearing; @@ -359,6 +360,7 @@ FixedwingPositionControl::FixedwingPositionControl() : land_noreturn_horizontal(false), land_noreturn_vertical(false), land_stayonground(false), + land_motor_lim(false), flare_curve_alt_last(0.0f) { _nav_capabilities.turn_distance = 0.0f; @@ -815,7 +817,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio float landing_slope_angle_rad = math::radians(_parameters.land_slope_angle); float flare_relative_alt = 15.0f; - float motor_lim_relative_alt = 10.0f;//be generous here as we currently have to rely on the user input for the waypoint + float motor_lim_horizontal_distance = 30.0f;//be generous here as we currently have to rely on the user input for the waypoint float L_wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), curr_wp.getX(), curr_wp.getY()) * _parameters.land_slope_length; float H1 = 10.0f; float H0 = flare_relative_alt + H1; @@ -826,7 +828,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio float L_altitude = getLandingSlopeAbsoluteAltitude(L_wp_distance, _global_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); float landing_slope_alt_desired = getLandingSlopeAbsoluteAltitude(wp_distance, _global_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); - if (((wp_distance < 2.0f * math::max(15.0f, flare_relative_alt)) && (_global_pos.alt < _global_triplet.current.altitude + flare_relative_alt)) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out + if ( (_global_pos.alt < _global_triplet.current.altitude + flare_relative_alt) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out /* land with minimal speed */ @@ -836,9 +838,10 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* kill the throttle if param requests it */ throttle_max = _parameters.throttle_max; - // if ((_global_pos.alt < _global_triplet.current.altitude + motor_lim_relative_alt)) { + if (wp_distance < motor_lim_horizontal_distance || land_motor_lim) { throttle_max = math::min(throttle_max, _parameters.throttle_land_max); - // } + land_motor_lim = true; + } float flare_curve_alt = _global_triplet.current.altitude + H0 * expf(-math::max(0.0f, flare_length - wp_distance)/flare_constant) - H1; @@ -986,6 +989,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio land_noreturn_horizontal = false; land_noreturn_vertical = false; land_stayonground = false; + land_motor_lim = false; } if (was_circle_mode && !_l1_control.circle_mode()) { |