MPC: LAND: Split Landing out of FlightTaskAuto into FlightTaskLand #23678

Claudio-Chies · 2024-09-17T07:18:43Z

Solved Problem

The #23546 did not consider the case when we trigger land from Altitude or Manual FlightTask, where the commanded velocity can greatly exceed the velocity possible in FlightTaskAuto.

Solution

Creation of a Landing Flighttask
adding of a "stop" motion primitive, to slow down the vehicle to a complete stop given any initial velocity.

With this PR, we are splitting the Landing Logic into a separate FlighTask called FlightTaskLand, and handle the landing logic in there.

Test on Hardware

Changelog Entry

For release notes:

Bugfix: Multicopter vehicles slow down smoothly when transitioning from a manual flight mode to the landing flight mode.

Dependent PR's

#23757 documents the part of temporarily extending the speed limits when already entering the mode too fast.

Test coverage

Tested in SITL Flightreview
Tested on Hardware Flightreview

dakejahl · 2024-09-17T19:00:29Z

I wonder how does this effect PrecisionLand? The precland logic lives in navigator as a submode, and I believe puts the vehicle into FlightTaskAuto with a land setpoint type. Something to keep in mind!

Claudio-Chies · 2024-09-30T09:34:37Z

@dakejahl

I wonder how does this effect PrecisionLand? The precland logic lives in navigator as a submode, and I believe puts the vehicle into FlightTaskAuto with a land setpoint type. Something to keep in mind!

I now made it so that Landing Flightmode goes into FlightTaskLand, and Precision landing remains in FlightTaskAuto.
This way we can/should split out precision landing into its own flight task in the future, or also integrate it into FlightTaskLand.

I wasn't able to also integrate precision landing into it, as i dont have the means to test it, and FlightTaskLand is currently not set up to handle movement around to setpoint triplets as FlightTaskAuto. it just brakes, and lands.

…ble to compensate initial velocities better.

github-actions · 2024-12-16T14:35:44Z

🔎 FLASH Analysis

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  [NEW]    +256  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Utility/Stop.cpp
  +0.3%     +16  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  +0.2%    +112  [ = ]       0    [section .symtab]
   +33%     +16  [ = ]       0    msg/topics_sources/action_request.cpp
   +34%    +240  [ = ]       0    src/modules/flight_mode_manager/FlightTasks_generated.cpp
  -0.0%     -16  [ = ]       0    src/modules/mavlink/modules__mavlink_unity.cpp
-4.8% -3.48Ki  [ = ]       0    [Unmapped]
+0.5%  +232Ki  +0.2% +3.48Ki    TOTAL

Updated: 2024-12-16T14:35:43

Claudio-Chies changed the title ~~Misc: Matrix: Added Addition and Subtraction to Slices~~ MPC: LAND: Split Landing out of FlightTaskAuto into FlightTaskLand Sep 17, 2024

Claudio-Chies force-pushed the pr-flight_task_land branch from 309d09b to e0e1a53 Compare September 17, 2024 08:10

Claudio-Chies force-pushed the pr-flight_task_land branch 4 times, most recently from 1b23655 to d3d49fd Compare September 30, 2024 09:29

Claudio-Chies force-pushed the pr-flight_task_land branch 3 times, most recently from 776b848 to a1f1b9f Compare October 4, 2024 12:04

Claudio-Chies force-pushed the pr-flight_task_land branch 2 times, most recently from 6a22182 to f019e3a Compare October 18, 2024 09:36

sfuhrer mentioned this pull request Oct 23, 2024

Navigator: land: fix when flying without global position estimate #23845

Merged

Claudio-Chies force-pushed the pr-flight_task_land branch 6 times, most recently from 1a853a8 to 46ef94b Compare October 28, 2024 08:41

Claudio-Chies force-pushed the pr-flight_task_land branch from 46ef94b to f429026 Compare December 3, 2024 10:46

Claudio-Chies marked this pull request as ready for review December 3, 2024 10:47

Claudio-Chies requested a review from MaEtUgR December 3, 2024 10:47

Claudio-Chies force-pushed the pr-flight_task_land branch 4 times, most recently from 6803b79 to 0ddbe61 Compare December 16, 2024 14:26

Claudio-Chies added 3 commits December 16, 2024 15:30

MPC: LAND: Split Landing out of the FlightTask Auto, any by that is a…

ca14164

…ble to compensate initial velocities better.

Expanded Vehicleconstraints to xy for emergency braking

b04b64c

MPC: LAND: create Stop motion primitive to also be used elsewhere

4d003fd

Claudio-Chies force-pushed the pr-flight_task_land branch from 0ddbe61 to 4d003fd Compare December 16, 2024 14:30

MaEtUgR mentioned this pull request Dec 19, 2024

MPC: AUTO: Emergency Braking velocity setpoint fix #23757

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MPC: LAND: Split Landing out of FlightTaskAuto into FlightTaskLand #23678

MPC: LAND: Split Landing out of FlightTaskAuto into FlightTaskLand #23678

Claudio-Chies commented Sep 17, 2024 •

edited by MaEtUgR

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dakejahl commented Sep 17, 2024

Claudio-Chies commented Sep 30, 2024 •

edited

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github-actions bot commented Dec 16, 2024

MPC: LAND: Split Landing out of FlightTaskAuto into FlightTaskLand #23678

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MPC: LAND: Split Landing out of FlightTaskAuto into FlightTaskLand #23678

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Claudio-Chies commented Sep 17, 2024 • edited by MaEtUgR Loading

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Claudio-Chies commented Sep 17, 2024 •

edited by MaEtUgR

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Claudio-Chies commented Sep 30, 2024 •

edited

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