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Navigator: Land: Improve it for VTOL by taking breaking distance into account #23566

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merged 2 commits into from
Aug 22, 2024
Merged

Navigator: Land: Improve it for VTOL by taking breaking distance into account #23566

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d0cbb86
vtol adjust landing setpoint
Claudio-Chies Aug 19, 2024
2d62493
improve comment
Claudio-Chies Aug 19, 2024
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6 changes: 2 additions & 4 deletions src/modules/navigator/land.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,10 +86,8 @@ Land::on_active()
_navigator->get_vstatus()->in_transition_mode) {
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

// create a virtual wp 1m in front of the vehicle to track during the backtransition
waypoint_from_heading_and_distance(_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_navigator->get_local_position()->heading, 1.f,
&pos_sp_triplet->current.lat, &pos_sp_triplet->current.lon);
// create a wp in front of the VTOL while in back-transition, based on MPC settings that will apply in MC phase afterwards
_navigator->calculate_breaking_stop(pos_sp_triplet->current.lat, pos_sp_triplet->current.lon);

_navigator->set_position_setpoint_triplet_updated();
}
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