VTOL: treat Descend mode as Land #22843
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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tested here https://suite.auterion.com/logs/2cb31db9-a836-47ee-9c06-9fd1b2569c95 Loiter, stop GPS driver, Emergency land, forward nudging results in tiltservos moving So it worked |
RomanBapst
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Mar 7, 2024
jwwaite
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Mar 10, 2024
* vtol_type: enable pusher assist also in Descend mode Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * vtol_type: treat Descend as Land for pusher assist Signed-off-by: Silvan Fuhrer <silvan@auterion.com> --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Peize-Liu
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Mar 24, 2024
* vtol_type: enable pusher assist also in Descend mode Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * vtol_type: treat Descend as Land for pusher assist Signed-off-by: Silvan Fuhrer <silvan@auterion.com> --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
asimopunov
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Apr 12, 2024
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Solved Problem
In Descend mode (failsafe mode after position loss in hover auto modes), the pusher assist is not running. It is expected that it runs in Descend as it does in Land, as the implications of the descend mode are the same as for Land (vehicle needs to reduce altitude and is about to have ground contact, for which for some vehicles it is better to disable pusher assist).
Solution
Treat Descend as Land.
Changelog Entry
For release notes:
Alternatives
We could also keep it fully disabled in Descend as it is currently.