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Fixed-wing autoland: Remove the dynamic altitude acceptance calculation and just use a simple separate landing altitude acceptance radius instead. This gives users that do not use LOITER-TO-ALT waypoints more control over their landing procedure

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This commit is contained in:
Philipp Oettershagen
2018-06-20 19:40:53 +02:00
committed by Daniel Agar
parent 953cff7ba0
commit 334aa57a5f
3 changed files with 18 additions and 6 deletions
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8
src/modules/navigator/navigator_main.cpp
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@@ -868,15 +868,11 @@ float
Navigator::get_altitude_acceptance_radius()
{
if (!get_vstatus()->is_rotary_wing) {
// The fixed-wing altitude acceptance radius default is the respective parameter. However, before a landing
// approach it needs to be tighter: Assume a 30% error w.r.t. the remaining descent altitude is OK, but enforce
// min/max values (e.g. min=3m to make sure that the waypoint can still be reached in case of wrong user input).
const position_setpoint_s &next_sp = get_position_setpoint_triplet()->next;
const position_setpoint_s &curr_sp = get_position_setpoint_triplet()->current;
if (next_sp.type == position_setpoint_s::SETPOINT_TYPE_LAND && next_sp.valid) {
return math::constrain(0.3f * (curr_sp.alt - next_sp.alt), 3.0f, _param_fw_alt_acceptance_radius.get());
// Use separate (tighter) altitude acceptance for clean altitude starting point before landing
return _param_fw_alt_lnd_acceptance_radius.get();
}
}