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Code Issues Releases Activity

Improved automatic landing algorithm to better track descend speed.

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Desired descend speed is now a FlightModeSetting.
This commit is contained in:
Werner Backes 2014-07-15 09:39:13 +02:00
parent 3e2961420d
commit 7da0034775
2 changed files with 20 additions and 3 deletions
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22
flight/libraries/plans.c
View File

@ -128,9 +128,19 @@ void plan_setup_returnToBase()
PathDesiredSet(&pathDesired);
}
static PiOSDeltatimeConfig landdT;
void plan_setup_land()
{
float descendspeed;
plan_setup_positionHold();
FlightModeSettingsLandingVelocityGet(&descendspeed);
PathDesiredData pathDesired;
PathDesiredGet(&pathDesired);
pathDesired.StartingVelocity = descendspeed;
pathDesired.EndingVelocity = descendspeed;
PathDesiredSet(&pathDesired);
PIOS_DELTATIME_Init(&landdT, UPDATE_EXPECTED, UPDATE_MIN, UPDATE_MAX, UPDATE_ALPHA);
}
/**
@ -138,12 +148,18 @@ void plan_setup_land()
*/
void plan_run_land()
{
float downPos, descendspeed;
PathDesiredEndData pathDesiredEnd;
PathDesiredEndGet(&pathDesiredEnd);
PositionStateDownGet(&downPos); // current down position
PathDesiredEndGet(&pathDesiredEnd); // desired position
PathDesiredEndingVelocityGet(&descendspeed);
PositionStateDownGet(&pathDesiredEnd.Down);
pathDesiredEnd.Down += 5;
// desired position is updated to match the desired descend speed but don't run ahead
// too far if the current position can't keep up. This normaly means we have landed.
if (pathDesiredEnd.Down - downPos < 10) {
pathDesiredEnd.Down += descendspeed * PIOS_DELTATIME_GetAverageSeconds(&landdT);
}
PathDesiredEndSet(&pathDesiredEnd);
}

1
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -110,6 +110,7 @@
<field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
<field name="DisableSanityChecks" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
<field name="LandingVelocity" units="m" type="float" elements="1" defaultvalue="0.4"/>
<field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="10,2"/>
<!-- optimized for current vtolpathfollower,
for fixed wing pathfollower set to Horizontal=500,Vertical=5 -->