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Navigator: Land: Improve it for VTOL by taking breaking distance into account (#23566)

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* vtol adjust landing setpoint

* improve comment

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

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Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Claudio Chies
2024-08-22 14:10:36 +02:00
committed by GitHub
parent e0bb56b6a7
commit ee022a70c1
1 changed files with 2 additions and 4 deletions
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src/modules/navigator/land.cpp
+2 -4
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@@ -86,10 +86,8 @@ Land::on_active()
_navigator->get_vstatus()->in_transition_mode) {
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
// create a virtual wp 1m in front of the vehicle to track during the backtransition
waypoint_from_heading_and_distance(_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_navigator->get_local_position()->heading, 1.f,
&pos_sp_triplet->current.lat, &pos_sp_triplet->current.lon);
// create a wp in front of the VTOL while in back-transition, based on MPC settings that will apply in MC phase afterwards
_navigator->calculate_breaking_stop(pos_sp_triplet->current.lat, pos_sp_triplet->current.lon);
_navigator->set_position_setpoint_triplet_updated();
}