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Landing horizontal velocity compensation / unsteady landing (#23546)

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* initial working

* implemented feedback
This commit is contained in:
Claudio Chies
2024-08-19 08:01:43 +02:00
committed by GitHub
parent 435e9665b3
commit e29a36adb4
2 changed files with 7 additions and 2 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+1 -1
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@@ -452,7 +452,7 @@ bool FlightTaskAuto::_evaluateTriplets()
_triplet_prev_wp(2) = -(_sub_triplet_setpoint.get().previous.alt - _reference_altitude);
} else {
_triplet_prev_wp = _position;
_triplet_prev_wp = _triplet_target;
}
_prev_was_valid = _sub_triplet_setpoint.get().previous.valid;
src/modules/navigator/land.cpp
+6 -1
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@@ -57,8 +57,13 @@ Land::on_activation()
/* convert mission item to current setpoint */
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->previous.valid = false;
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_navigator->calculate_breaking_stop(_mission_item.lat, _mission_item.lon);
}
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated();