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VTOL: fix quad-chute max altitude limit

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-01-12 09:29:21 +01:00
committed by Roman Bapst
parent 3d50a7ce44
commit 8a680a3153
2 changed files with 7 additions and 4 deletions
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src/modules/vtol_att_control/vtol_att_control_params.c
+2 -2
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@@ -249,13 +249,13 @@ PARAM_DEFINE_INT32(VT_FW_QC_P, 0);
PARAM_DEFINE_INT32(VT_FW_QC_R, 0); PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
/** /**
* Quadchute maximum height. * Quadchute maximum height
* *
* Maximum height above the ground (if available, otherwhise above home if available, otherwise above the local origin) where triggering a quadchute is possible. * Maximum height above the ground (if available, otherwhise above home if available, otherwise above the local origin) where triggering a quadchute is possible.
* Triggering a quadchute always means transitioning the vehicle to hover flight in which generally a lot of energy is consumed. * Triggering a quadchute always means transitioning the vehicle to hover flight in which generally a lot of energy is consumed.
* At high altitudes there is therefore a big risk to deplete the battery and therefore crash. Currently, there is no automated * At high altitudes there is therefore a big risk to deplete the battery and therefore crash. Currently, there is no automated
* re-transition to fixed wing mode implemented and therefore this parameter serves and an intermediate measure to increase safety. * re-transition to fixed wing mode implemented and therefore this parameter serves and an intermediate measure to increase safety.
* Setting this value to 0 deactivates the behavior. * Setting this value to 0 deactivates the behavior (always enable quad-chute independently of altitude).
* *
* @unit m * @unit m
* @min 0 * @min 0
src/modules/vtol_att_control/vtol_type.cpp
+5 -2
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@@ -228,9 +228,12 @@ bool VtolType::isQuadchuteEnabled()
} }
const bool above_quadchute_altitude_limit = _param_quadchute_max_height.get() > 0
&& dist_to_ground > (float)_param_quadchute_max_height.get();
return _v_control_mode->flag_armed && return _v_control_mode->flag_armed &&
!_land_detected->landed && _param_quadchute_max_height.get() > 0 && !_land_detected->landed && !above_quadchute_altitude_limit;
dist_to_ground < (float)_param_quadchute_max_height.get();
} }
bool VtolType::isMinAltBreached() bool VtolType::isMinAltBreached()