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Landing horizontal velocity compensation / unsteady landing #23546

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merged 2 commits into from
Aug 19, 2024
Merged

Landing horizontal velocity compensation / unsteady landing #23546

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20f6666
initial working
Claudio-Chies Aug 14, 2024
1f50253
implemented feedback
Claudio-Chies Aug 15, 2024
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6 changes: 3 additions & 3 deletions src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -247,12 +247,12 @@ void FlightTaskAuto::_prepareLandSetpoints()
if (_type_previous != WaypointType::land) {
// initialize yaw and xy-position
_land_heading = _yaw_setpoint;
_stick_acceleration_xy.resetPosition(Vector2f(_target(0), _target(1)));
_initial_land_position = Vector3f(_target(0), _target(1), NAN);
_stick_acceleration_xy.resetPosition(Vector2f(_triplet_target(0), _triplet_target(1)));
_initial_land_position = Vector3f(_triplet_target(0), _triplet_target(1), NAN);
}

// Update xy-position in case of landing position changes (etc. precision landing)
_land_position = Vector3f(_target(0), _target(1), NAN);
_land_position = Vector3f(_triplet_target(0), _triplet_target(1), NAN);

// User input assisted landing
if (_param_mpc_land_rc_help.get() && _sticks.checkAndUpdateStickInputs()) {
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2 changes: 2 additions & 0 deletions src/modules/navigator/land.cpp
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Expand Up @@ -58,6 +58,8 @@ 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;
// set current mission_item so that we can breake before reaching the landing waypoint
_navigator->calculate_breaking_stop(_mission_item.lat, _mission_item.lon);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;

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