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Fix circling behaviour during GPS Rescue descent phase (#13091)

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in descent and landing, attenuate pitch angle unless pointing accurately towards home
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ctzsnooze 2023-09-27 14:38:41 +10:00 • committed by GitHub
parent 9ada5638a3
commit 696e23fbeb
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1 changed files with 11 additions and 4 deletions
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15
src/main/flight/gps_rescue.c
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@ -124,6 +124,7 @@ typedef struct {
#define GPS_RESCUE_MAX_YAW_RATE 180 // deg/sec max yaw rate
#define GPS_RESCUE_MAX_THROTTLE_ITERM 200 // max iterm value for throttle in degrees * 100
#define GPS_RESCUE_ALLOWED_YAW_RANGE 30.0f // yaw error must be less than this to enter fly home phase, and to pitch during descend()
static float rescueThrottle;
static float rescueYaw;
@ -718,13 +719,19 @@ void descend(void)
rescueState.intent.velocityPidCutoffModifier = 2.5f - proximityToLandingArea;
// reduce target velocity as we get closer to home. Zero within 2m of home, reducing risk of overshooting.
// if it does overshoot, allow pitch angle limit to build up to correct the overshoot once rotated
rescueState.intent.targetVelocityCmS = gpsRescueConfig()->groundSpeedCmS * proximityToLandingArea;
// attenuate velocity target unless pointing towards home, to minimise circling behaviour during overshoots
if (rescueState.sensor.absErrorAngle > GPS_RESCUE_ALLOWED_YAW_RANGE) {
rescueState.intent.targetVelocityCmS = 0;
} else {
rescueState.intent.targetVelocityCmS *= (GPS_RESCUE_ALLOWED_YAW_RANGE - rescueState.sensor.absErrorAngle) / GPS_RESCUE_ALLOWED_YAW_RANGE;
}
// attenuate velocity iterm towards zero as we get closer to the landing area
rescueState.intent.velocityItermAttenuator = fminf(proximityToLandingArea, rescueState.intent.velocityItermAttenuator);
// reduce pitch angle limit if there is a significant groundspeed error - eg on overshooting home
// full pitch angle available all the time
rescueState.intent.pitchAngleLimitDeg = gpsRescueConfig()->maxRescueAngle;
// limit roll angle to half the allowed pitch angle and attenuate when closer to home
@ -850,8 +857,8 @@ void gpsRescueUpdate(void)
if (rescueState.intent.yawAttenuator < 1.0f) { // acquire yaw authority over one second
rescueState.intent.yawAttenuator += rescueState.sensor.gpsRescueTaskIntervalSeconds;
}
if (rescueState.sensor.absErrorAngle < 30.0f) {
// allow pitch, limiting allowed angle if we are drifting away from home
if (rescueState.sensor.absErrorAngle < GPS_RESCUE_ALLOWED_YAW_RANGE) {
// enter fly home phase, and enable pitch, when the yaw angle error is small enough
rescueState.intent.pitchAngleLimitDeg = gpsRescueConfig()->maxRescueAngle;
rescueState.phase = RESCUE_FLY_HOME; // enter fly home phase
rescueState.intent.secondsFailing = 0; // reset sanity timer for flight home