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FWPositionController: auto_landing(): move non-position handling to top

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-01-31 16:33:49 +01:00
parent b94ed34406
commit 50d75c537e
1 changed files with 13 additions and 12 deletions
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src/modules/fw_path_navigation/FixedwingPositionControl.cpp
+13 -12
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@@ -1501,18 +1501,7 @@ void
FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const float control_interval, FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const float control_interval,
const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr) const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
{ {
// Enable tighter altitude control for landings // first handle non-position things like airspeed and tecs settings
_tecs.set_altitude_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get());
const Vector2f local_position{_local_pos.x, _local_pos.y};
Vector2f local_land_point = _global_local_proj_ref.project(pos_sp_curr.lat, pos_sp_curr.lon);
initializeAutoLanding(now, pos_sp_prev, pos_sp_curr.alt, local_position, local_land_point);
// touchdown may get nudged by manual inputs
local_land_point = calculateTouchdownPosition(control_interval, local_land_point);
const Vector2f landing_approach_vector = calculateLandingApproachVector();
const float airspeed_land = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() : const float airspeed_land = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() :
_param_fw_airspd_min.get(); _param_fw_airspd_min.get();
float adjusted_min_airspeed = _param_fw_airspd_min.get(); float adjusted_min_airspeed = _param_fw_airspd_min.get();
@@ -1525,6 +1514,18 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
float target_airspeed = adapt_airspeed_setpoint(control_interval, airspeed_land, adjusted_min_airspeed, float target_airspeed = adapt_airspeed_setpoint(control_interval, airspeed_land, adjusted_min_airspeed,
ground_speed); ground_speed);
// Enable tighter altitude control for landings
_tecs.set_altitude_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get());
// now handle position
const Vector2f local_position{_local_pos.x, _local_pos.y};
Vector2f local_land_point = _global_local_proj_ref.project(pos_sp_curr.lat, pos_sp_curr.lon);
initializeAutoLanding(now, pos_sp_prev, pos_sp_curr.alt, local_position, local_land_point);
// touchdown may get nudged by manual inputs
local_land_point = calculateTouchdownPosition(control_interval, local_land_point);
const Vector2f landing_approach_vector = calculateLandingApproachVector();
// calculate the altitude setpoint based on the landing glide slope // calculate the altitude setpoint based on the landing glide slope
const float along_track_dist_to_touchdown = -landing_approach_vector.unit_or_zero().dot( const float along_track_dist_to_touchdown = -landing_approach_vector.unit_or_zero().dot(