Mirrors_Framework/PX4-Autopilot
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reverted navigation on landing back to old heading hold

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This commit is contained in:
Andreas Antener
2015-10-28 14:08:42 +01:00
committed by Roman
parent 6f4c8d45ff
commit 5b1c7321e7
2 changed files with 14 additions and 10 deletions
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src/lib/geo/geo.c
+2 -2
View File
@@ -310,7 +310,7 @@ __EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, dou
waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target);
} else {
heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
heading = _wrap_2pi(heading + 180.0f * M_PI_F);
heading = _wrap_2pi(heading + M_PI_F);
waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target);
}
}
@@ -318,7 +318,7 @@ __EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, dou
__EXPORT void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist, double *lat_end, double *lon_end)
{
bearing = _wrap_2pi(bearing);
double radius_ratio = (double)(dist / CONSTANTS_RADIUS_OF_EARTH);
double radius_ratio = (double)(fabs(dist) / CONSTANTS_RADIUS_OF_EARTH);
*lat_end = asin(sin(lat_start) * cos(radius_ratio) + cos(lat_start) * sin(radius_ratio) * cos((double)bearing));
*lon_end = lon_start + atan2(sin((double)bearing) * sin(radius_ratio) * cos(lat_start), cos(radius_ratio) - sin(lat_start) * sin(*lat_end));
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+12 -8
View File
@@ -1264,9 +1264,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
create_waypoint_from_line_and_dist(pos_sp_triplet.current.lat, pos_sp_triplet.current.lon, pos_sp_triplet.previous.lat,pos_sp_triplet.previous.lon, -1000.0f, &lat, &lon);
curr_wp_shifted(0) = (float)lat;
curr_wp_shifted(1) = (float)lon;
// we want the plane to keep tracking the desired flight path until we start flaring
// if we go into heading hold mode earlier then we risk to be pushed away from the runway by cross winds
if (land_noreturn_vertical) {
//if (land_noreturn_vertical) {
if (wp_distance < _parameters.land_heading_hold_horizontal_distance || land_noreturn_horizontal) {
/* heading hold, along the line connecting this and the last waypoint */
@@ -1288,7 +1290,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
} else {
/* normal navigation */
_l1_control.navigate_waypoints(prev_wp, curr_wp_shifted, current_position, ground_speed_2d);
_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d);
}
_att_sp.roll_body = _l1_control.nav_roll();
@@ -1405,7 +1407,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
land_noreturn_vertical = true;
} else {
if (_global_pos.vel_d > 0.1f) {
_att_sp.pitch_body = _parameters.land_flare_pitch_min_deg * (height_flare - (_global_pos.alt - terrain_alt)) / height_flare;
_att_sp.pitch_body = math::radians(_parameters.land_flare_pitch_min_deg) *
math::constrain((height_flare - (_global_pos.alt - terrain_alt)) / height_flare, 0.0f, 1.0f);
} else {
_att_sp.pitch_body = _att_sp.pitch_body;
}
@@ -1859,12 +1862,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* During a takeoff waypoint while waiting for launch the pitch sp is set
* already (not by tecs) */
if (!(_control_mode_current == FW_POSCTRL_MODE_AUTO &&
pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
if (!(_control_mode_current == FW_POSCTRL_MODE_AUTO && (
(pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
(launch_detection_state == LAUNCHDETECTION_RES_NONE ||
_runway_takeoff.runwayTakeoffEnabled() ||
land_noreturn_vertical)
)) {
_runway_takeoff.runwayTakeoffEnabled())) ||
(pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND &&
land_noreturn_vertical))
)) {
_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
}