FlightTaskManualAltitude: adjust speed downwards when close to ground… #10410
Conversation
| if (PX4_ISFINITE(_dist_to_bottom)) { | ||
| dist_to_ground = _dist_to_bottom; | ||
|
|
||
| } else if (PX4_ISFINITE(_sub_home_position->get().valid_alt)) { |
There was a problem hiding this comment.
What if you're nowhere near home?
There was a problem hiding this comment.
it will slow-down as well. This "feature" is actually just a legacy "feature" (https://github.com/PX4/Firmware/pull/9368/files#diff-fc77c3ef569029d45764664c75d4b0c1L2429), I just added it back.
Unfortunately, I cannot find anymore the discussion we had when this "feature" got introduced. I was strongly against it, but the decision was different. At least this time I added the check that if there is a distance sensor to ground, then use the distance to ground instead of blindly use the altitude above home
|
Build failure is real. Once fixed please rebase on master to resolve other recent CI issues. |
… and distance to bottom or home-altitude is known.
Stifael
force-pushed
the
manual_slow_down_ground
branch
from
9515556 to
f2a0fd2
Compare
|
|
||
| // if there is a valid distance to bottom or distance to home, then | ||
| // adjust speed downwards gradually within the limits MPC_LAND_ALT1 and MPC_LAND_ALT2. | ||
| if (_sticks(2) > 0.0f) { //user demands speed downwards |
There was a problem hiding this comment.
Why not using _sticks_expo(2) to be consistent with #10653 ?
| } | ||
|
|
||
| if (PX4_ISFINITE(dist_to_ground)) { | ||
| _velocity_setpoint(2) = math::gradual(dist_to_ground, MPC_LAND_ALT2.get(), |
There was a problem hiding this comment.
This will not generate a linear setpoint change as the slope is defined by the actual - changing - velocity setpoint: _velocity_setpoint = f(_velocity_setpoint, dist_to_ground). Is that the required behavior?
|
This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions. |
|
Closing as stale. |
slow down when close to ground/home altitude when in manual