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glide in last phase of automated landing

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2017-05-30 14:52:56 +02:00
parent ae2aff0b3d
commit d729e73a7d
1 changed files with 18 additions and 5 deletions
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23
src/main/navigation/navigation_fixedwing.c
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@ -444,13 +444,26 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
}
/*
* Then altitude is below landing slowdown min. altitude, set throttle to min_throttle
* And lock ROLL axis in ZERO position
* Then altitude is below landing slowdown min. altitude, enable final approach procedure
* TODO refactor conditions in this metod if logic is proven to be correct
*/
if (posControl.flags.hasValidAltitudeSensor && posControl.actualState.pos.V.Z < navConfig()->general.land_slowdown_minalt) {
rcCommand[THROTTLE] = navConfig()->fw.min_throttle;
rcCommand[ROLL] = 0;
if (posControl.flags.hasValidAltitudeSensor && posControl.actualState.pos.V.Z < navConfig()->general.land_slowdown_minalt) {
/*
* Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
*/
rcCommand[THROTTLE] = motorConfig()->minthrottle;
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
/*
* Stabilize ROLL axis on 0 degress banking regardless of loiter radius and position
*/
rcCommand[ROLL] = 0;
/*
* Stabilize PITCH angle into shallow dive (2 deg hardcoded ATM)
* PITCH angle is measured: >0 - dive, <0 - climb)
*/
rcCommand[PITCH] = pidAngleToRcCommand(DEGREES_TO_DECIDEGREES(2), pidProfile()->max_angle_inclination[FD_PITCH]);
}
}