nav_skid_landing.c File Reference

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...

#include "generated/airframe.h"
#include "state.h"
#include "modules/nav/nav_skid_landing.h"
#include "autopilot.h"
#include "firmwares/fixedwing/nav.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"

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Macros
#define	SKID_LANDING_AF_HEIGHT   50
#define	SKID_LANDING_FINAL_HEIGHT   5
#define	SKID_LANDING_FINAL_STAGE_TIME   5

Enumerations
enum	LandingStatus { CircleDown, LandingWait, Final, Approach }

Functions
static float	distance_equation (struct FloatVect2 p1, struct FloatVect2 p2)
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)

Variables
static enum LandingStatus	skid_landing_status
static uint8_t	aw_waypoint
static uint8_t	td_waypoint
static float	land_radius
static struct FloatVect2	land_circle
static float	land_app_alt
static float	land_circle_quadrant
static float	approach_quadrant
static float	final_land_altitude
static uint8_t	final_land_count

Detailed 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.

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.c.

Macro Definition Documentation

#define SKID_LANDING_AF_HEIGHT   50

Definition at line 80 of file nav_skid_landing.c.

#define SKID_LANDING_FINAL_HEIGHT   5

Definition at line 83 of file nav_skid_landing.c.

Referenced by nav_skid_landing_setup().

#define SKID_LANDING_FINAL_STAGE_TIME   5

Definition at line 86 of file nav_skid_landing.c.

Enumeration Type Documentation

enum LandingStatus

Enumerator
CircleDown
LandingWait
Final
Approach

Definition at line 64 of file nav_skid_landing.c.

Function Documentation

static float distance_equation ( struct FloatVect2  p1, struct FloatVect2  p2  )

inlinestatic

Definition at line 89 of file nav_skid_landing.c.

References FloatVect2::x, and FloatVect2::y.

Referenced by nav_skid_landing_glide().

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void nav_skid_landing_glide	(	uint8_t	From_WP,
		uint8_t	To_WP
	)

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, point::x, FloatVect2::x, EnuCoor_f::x, point::y, FloatVect2::y, and EnuCoor_f::y.

Referenced by nav_skid_landing_run().

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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.

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void nav_skid_landing_setup	(	uint8_t	afwp,
		uint8_t	tdwp,
		float	radius
	)

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, radius, SKID_LANDING_FINAL_HEIGHT, skid_landing_status, stateGetPositionUtm_f(), td_waypoint, waypoints, point::x, FloatVect2::x, point::y, and FloatVect2::y.

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Variable Documentation

float approach_quadrant

static

Definition at line 75 of file nav_skid_landing.c.

Referenced by nav_skid_landing_run(), and nav_skid_landing_setup().

uint8_t aw_waypoint

static

Definition at line 69 of file nav_skid_landing.c.

Referenced by nav_skid_landing_run(), and nav_skid_landing_setup().

float final_land_altitude

static

Definition at line 76 of file nav_skid_landing.c.

Referenced by nav_skid_landing_setup().

uint8_t final_land_count

static

Definition at line 77 of file nav_skid_landing.c.

Referenced by nav_skid_landing_setup().

float land_app_alt

static

Definition at line 73 of file nav_skid_landing.c.

Referenced by nav_skid_landing_setup().

struct FloatVect2 land_circle

static

Definition at line 72 of file nav_skid_landing.c.

Referenced by nav_skid_landing_run(), and nav_skid_landing_setup().

float land_circle_quadrant

static

Definition at line 74 of file nav_skid_landing.c.

Referenced by nav_skid_landing_run(), and nav_skid_landing_setup().

float land_radius

static

Definition at line 71 of file nav_skid_landing.c.

Referenced by nav_skid_landing_run(), and nav_skid_landing_setup().

enum LandingStatus skid_landing_status

static

Definition at line 68 of file nav_skid_landing.c.

Referenced by nav_skid_landing_run(), and nav_skid_landing_setup().

uint8_t td_waypoint

static

Definition at line 70 of file nav_skid_landing.c.

Referenced by nav_skid_landing_run(), and nav_skid_landing_setup().