Landing horizontal velocity compensation / unsteady landing (PX4#23546)

* initial working * implemented feedback
iq-motion-control · Aug 21, 2024 · fec86bb · fec86bb
1 parent 046a471
commit fec86bb
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -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;

diff --git a/src/modules/navigator/land.cpp b/src/modules/navigator/land.cpp
@@ -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();