From 0cddae02ab9c9ac52bde196b936b549f32435fb4 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 25 May 2014 15:45:01 +0200 Subject: fw: resolve an issue when the aircraft was climbing before landing --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) (limited to 'src') 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 4f40682ea..f23719794 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 @@ -977,7 +977,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */ float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); - float L_altitude_rel = landingslope.getLandingSlopeRelativeAltitude(L_wp_distance); + float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f; float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp); @@ -1032,10 +1032,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* intersect glide slope: * minimize speed to approach speed * if current position is higher or within 10m of slope follow the glide slope - * if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope + * also if the system captures the slope it should stay + * on the slope (bool land_onslope) + * if current position is below slope -10m continue at previous wp altitude + * until the intersection with slope * */ float altitude_desired_rel = relative_alt; - if (relative_alt > landing_slope_alt_rel_desired - 10.0f) { + if (relative_alt > landing_slope_alt_rel_desired - 10.0f || land_onslope) { /* stay on slope */ altitude_desired_rel = landing_slope_alt_rel_desired; if (!land_onslope) { @@ -1044,7 +1047,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } else { /* continue horizontally */ - altitude_desired_rel = math::max(relative_alt, L_altitude_rel); + altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : relative_alt; } tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, -- cgit v1.2.3