Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-30 04:06:33 +08:00
Code Issues Actions 9 Packages Projects Releases Wiki Activity

rtl: for vtol first desend down to RTL descend altitude before doing a transition

Browse Source 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-03-24 10:42:18 +03:00
committed by Lorenz Meier
parent e81d5daa66
commit bb2826ad27
1 changed files with 14 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/rtl.cpp
+14 -14
View File
@@ -461,31 +461,31 @@ void RTL::advance_rtl()
break; break;
case RTL_STATE_RETURN: case RTL_STATE_RETURN:
_rtl_state = RTL_STATE_DESCEND;
break;
// Descend to desired altitude if delay is set, directly land otherwise
case RTL_STATE_TRANSITION_TO_MC:
// Only go to land if autoland is enabled.
if (_param_rtl_land_delay.get() < -DELAY_SIGMA || _param_rtl_land_delay.get() > DELAY_SIGMA) { if (_param_rtl_land_delay.get() < -DELAY_SIGMA || _param_rtl_land_delay.get() > DELAY_SIGMA) {
_rtl_state = RTL_STATE_DESCEND; _rtl_state = RTL_STATE_LOITER;
} else { } else {
_rtl_state = RTL_STATE_LAND; _rtl_state = RTL_STATE_LAND;
} }
if (_navigator->get_vstatus()->is_vtol
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
_rtl_state = RTL_STATE_TRANSITION_TO_MC;
}
break;
case RTL_STATE_TRANSITION_TO_MC:
_rtl_state = RTL_STATE_RETURN;
break; break;
case RTL_STATE_DESCEND: case RTL_STATE_DESCEND:
// Only go to land if autoland is enabled. // If the vehicle is a vtol in fixed wing mode, then first transition to hover
if (_param_rtl_land_delay.get() < -DELAY_SIGMA || _param_rtl_land_delay.get() > DELAY_SIGMA) { if (_navigator->get_vstatus()->is_vtol
_rtl_state = RTL_STATE_LOITER; && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
_rtl_state = RTL_STATE_TRANSITION_TO_MC;
} else if (_param_rtl_land_delay.get() < -DELAY_SIGMA || _param_rtl_land_delay.get() > DELAY_SIGMA) {
_rtl_state = RTL_STATE_DESCEND;
} else { } else {
_rtl_state = RTL_STATE_LAND; _rtl_state = RTL_STATE_LAND;