Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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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. More...
Go to the source code of this file.
Functions | |
void | nav_skid_landing_setup (uint8_t afwp, uint8_t tdwp, float radius) |
bool | nav_skid_landing_run (void) |
void | nav_skid_landing_glide (uint8_t from_wp, uint8_t to_wp) |
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.
Use this in your airfame config file: <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>
Also define: V_CTL_LANDING_THROTTLE_PGAIN - landing throttle P gain V_CTL_LANDING_THROTTLE_IGAIN - landing throttle I gain V_CTL_LANDING_THROTTLE_MAX - max landing throttle V_CTL_LANDING_DESIRED_SPEED - desired landing speed V_CTL_LANDING_PITCH_PGAIN - landing P gain V_CTL_LANDING_PITCH_IGAIN - landing I gain V_CTL_LANDING_PITCH_LIMITS - pitch limits during landing V_CTL_LANDING_PITCH_FLARE - flare P gain V_CTL_LANDING_ALT_THROTTLE_KILL - AGL to kill throttle during landing V_CTL_LANDING_ALT_FLARE - AGL to initiate final flare
to properly use landing control loop
Definition in file nav_skid_landing.h.
Definition at line 182 of file nav_skid_landing.c.
References point::a, distance_equation(), nav_altitude, stateGetPositionEnu_f(), stateGetPositionUtm_f(), v_ctl_mode, V_CTL_MODE_LANDING, waypoints, FloatVect2::x, EnuCoor_f::x, point::x, FloatVect2::y, EnuCoor_f::y, and point::y.
Referenced by nav_skid_landing_run().
bool nav_skid_landing_run | ( | void | ) |
Definition at line 127 of file nav_skid_landing.c.
References Approach, approach_quadrant, autopilot_set_kill_throttle(), autopilot_throttle_killed(), aw_waypoint, CircleDown, Final, land_circle, land_circle_quadrant, land_radius, LandingWait, nav_circle_XY(), nav_init_stage(), nav_route_xy(), nav_skid_landing_glide(), NavCircleCount, NavQdrCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, skid_landing_status, stateGetPositionUtm_f(), td_waypoint, TRUE, waypoints, FloatVect2::x, and FloatVect2::y.
Definition at line 94 of file nav_skid_landing.c.
References UtmCoor_f::alt, approach_quadrant, aw_waypoint, CircleDown, final_land_altitude, final_land_count, land_app_alt, land_circle, land_circle_quadrant, land_radius, SKID_LANDING_FINAL_HEIGHT, skid_landing_status, stateGetPositionUtm_f(), td_waypoint, waypoints, FloatVect2::x, point::x, FloatVect2::y, and point::y.