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Code Issues Wiki Activity

Option to enable/disable landing as a last stage of RTH

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-02-05 19:35:07 +10:00
parent 967caed6cb
commit 8fad3e3290
4 changed files with 7 additions and 7 deletions
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11
src/main/navigation/navigation.c
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@ -73,6 +73,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.rth_climb_first = 1, // Climb first, turn after reaching safe altitude
.rth_tail_first = 0,
.disarm_on_landing = 0,
.rth_allow_landing = 1,
},
// General navigation parameters
@ -1152,11 +1153,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_LANDING(navigati
return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
}
if (STATE(FIXED_WING)) {
// FIXME: Continue loitering at home altitude
return NAV_FSM_EVENT_NONE;
}
else {
if (navConfig()->general.flags.rth_allow_landing) {
// A safeguard - if sonar is available and it is reading < 50cm altitude - drop to low descend speed
if (posControl.flags.hasValidSurfaceSensor && posControl.actualState.surface >= 0 && posControl.actualState.surface < 50.0f) {
// land_descent_rate == 200 : descend speed = 30 cm/s, gentle touchdown
@ -1175,9 +1172,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_LANDING(navigati
float descentVelLimited = MIN(-descentVelScaling * navConfig()->general.land_descent_rate, -50.0f);
updateAltitudeTargetFromClimbRate(descentVelLimited, CLIMB_RATE_RESET_SURFACE_TARGET);
}
return NAV_FSM_EVENT_NONE;
}
return NAV_FSM_EVENT_NONE;
}
}