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QuadPlane: Precision Landing(v2) #11339
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4237503
RC_Channel: added precision loiter for plane
tridge 17b2196
Plane: support precision landing in quadplanes
lukedempsey 95e7e2f
AC_PrecLand: factor out run_estimator_raw and run_estimator_ekf
peterbarker e2362cc
AC_PrecLand: reindent run_estimator_raw and run_estimator_ekf
peterbarker 704becf
AC_PrecLand: move output prediction up into common code
peterbarker a282ed4
AC_PrecLand: remove redundant nullptr check
peterbarker b4f6365
Copter: correct height used for PrecLand
peterbarker 14fd82a
AC_PrecLand: tidy construct_pos_meas_using_rangefinder
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,22 @@ | ||
// | ||
// functions to support precision landing | ||
// | ||
|
||
#include "Plane.h" | ||
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||
#if PRECISION_LANDING == ENABLED | ||
void Plane::init_precland() | ||
{ | ||
plane.g2.precland.init(400); // this must match the number on the scheduler table | ||
} | ||
|
||
void Plane::update_precland() | ||
{ | ||
if (plane.g.rangefinder_landing && | ||
rangefinder_state.in_range) { | ||
return g2.precland.update(rangefinder_state.height_estimate, | ||
true); | ||
} | ||
return g2.precland.update(0, false); | ||
} | ||
#endif |
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I'm not fully around pos_control, but it seems that when I override the it with
pos_control->set_xy_target(target_pos.x, target_pos.y);
there is less authority to move the craft to the target location - it can hover for many seconds approx 3m away from target coordinates horizontally, delaying theQ_POS_DESCEND
transition