nav_skid_landing module

Landing on skidpads

See video of the landing: https://www.youtube.com/watch?v=aYrB7s3oeX4 Standard landing procedure: 1) circle down passing AF waypoint (from left or right) 2) once low enough follow line to TD waypoint 3) once low enough flare

Example for airframe file

Add to your firmware section:

<module name="nav_skid_landing"/>

Module configuration options

Airframe file section

• section name: LANDING prefix: SKID_LANDING_
  • name AF_HEIGHT value: 50
  • name FINAL_HEIGHT value: 50
  • name FINAL_STAGE_TIME value: 10
• section name: VERTICAL CONTROL prefix: V_CTL_
  • name LANDING_THROTTLE_PGAIN value: 600.0
  • name LANDING_THROTTLE_IGAIN value: 10.0
  • name LANDING_THROTTLE_MAX value: 0.65
  • name LANDING_DESIRED_SPEED value: 18
  • name LANDING_PITCH_PGAIN value: 0.1
  • name LANDING_PITCH_IGAIN value: 0.1
  • name LANDING_PITCH_LIMITS value: 0.2
  • name LANDING_PITCH_FLARE value: 0.06
  • name LANDING_ALT_THROTTLE_KILL value: 15
  • name LANDING_ALT_FLARE value: 5

Files

Header Files

The following headers are automatically included in modules.h

• nav_skid_landing.h

Source Files

• modules/nav/nav_skid_landing.c

Raw nav_skid_landing.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="nav_skid_landing" dir="nav" task="control">
  <doc>
    <description>
    Landing on skidpads
    See video of the landing: https://www.youtube.com/watch?v=aYrB7s3oeX4
    Standard landing procedure:
    1) circle down passing AF waypoint (from left or right)
    2) once low enough follow line to TD waypoint
    3) once low enough flare
    </description>
 
    <section name="LANDING" prefix="SKID_LANDING_">
       <define name="AF_HEIGHT" value="50" unit="m"/>
       <define name="FINAL_HEIGHT" value="50" unit="m"/>
       <define name="FINAL_STAGE_TIME" value="10" unit="s"/>
    </section>
 
    <section name="VERTICAL CONTROL" prefix="V_CTL_">
      <define name="LANDING_THROTTLE_PGAIN"           value="600.0"/>
      <define name="LANDING_THROTTLE_IGAIN"           value="10.0"/>
      <define name="LANDING_THROTTLE_MAX"           value="0.65"/>
      <define name="LANDING_DESIRED_SPEED"           value="18" unit="m/s"/>
      <define name="LANDING_PITCH_PGAIN"           value="0.1"/>
      <define name="LANDING_PITCH_IGAIN"           value="0.1"/>
      <define name="LANDING_PITCH_LIMITS"           value="0.2" unit="rad"/>
      <define name="LANDING_PITCH_FLARE"           value="0.06"/>
      <define name="LANDING_ALT_THROTTLE_KILL"     value="15" unit="m"/>
      <define name="LANDING_ALT_FLARE"           value="5" unit="m"/>
    </section>
 
  </doc>
 
  <settings>
    <dl_settings>
      <dl_settings NAME="NavSkidLanding">
        <dl_setting var="v_ctl_landing_throttle_pgain" min="0" step="1" max="1000" shortname="throttle_pgain" module="guidance/guidance_v"/>
        <dl_setting var="v_ctl_landing_throttle_igain" min="0" step="0.1" max="100" shortname="throttle_igain"/>
        <dl_setting var="v_ctl_landing_throttle_max" min="0" step="0.01" max="1" shortname="throttle_max"/>
        <dl_setting var="v_ctl_landing_desired_speed" min="1" step="1" max="50" shortname="landing_speed"/>
        <dl_setting var="v_ctl_landing_pitch_pgain" min="0" step="0.01" max="10" shortname="pitch_pgain"/>
        <dl_setting var="v_ctl_landing_pitch_igain" min="0" step="0.01" max="10" shortname="pitch_igain"/>
        <dl_setting var="v_ctl_landing_pitch_limits" min="0" step="0.01" max="1" shortname="pitch_limits"/>
        <dl_setting var="v_ctl_landing_pitch_flare" min="0" step="0.01" max="1" shortname="flare_pgain"/>
        <dl_setting var="v_ctl_landing_alt_throttle_kill" min="0" step="1" max="30" shortname="motor_kill_alt"/>
        <dl_setting var="v_ctl_landing_alt_flare" min="0" step="1" max="30" shortname="flare_alt"/>
      </dl_settings>
    </dl_settings>
  </settings>
 
  <dep>
    <depends>@navigation</depends>
  </dep>
  <header>
    <file name="nav_skid_landing.h"/>
  </header>
  <makefile target="ap|sim|nps">
    <file name="nav_skid_landing.c"/>
    <define name="CTRL_VERTICAL_LANDING" value="1"/>
    <test firmware="fixedwing">
      <define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
      <define name="CTRL_VERTICAL_LANDING"/>
    </test>
  </makefile>
</module>