Landing horizontal velocity compensation / unsteady landing (#23546)

* initial working * implemented feedback
PX4 · Aug 19, 2024 · e29a36a · e29a36a
1 parent 435e966
commit e29a36a
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -452,7 +452,7 @@ bool FlightTaskAuto::_evaluateTriplets()
  _triplet_prev_wp(2) = -(_sub_triplet_setpoint.get().previous.alt - _reference_altitude);
 
  } else {
- _triplet_prev_wp = _position;
+ _triplet_prev_wp = _triplet_target;
  }
 
  _prev_was_valid = _sub_triplet_setpoint.get().previous.valid;

diff --git a/src/modules/navigator/land.cpp b/src/modules/navigator/land.cpp
@@ -57,8 +57,13 @@ Land::on_activation()
 
  /* convert mission item to current setpoint */
  struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
- pos_sp_triplet->previous.valid = false;
+
+ if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
+ _navigator->calculate_breaking_stop(_mission_item.lat, _mission_item.lon);
+ }
+
  mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+ pos_sp_triplet->previous.valid = false;
  pos_sp_triplet->next.valid = false;
 
  _navigator->set_position_setpoint_triplet_updated();