/*
update navigation for landing. Called when on landing approach or
final flare
*/
bool Plane::verify_land()
{
// we don't 'verify' landing in the sense that it never completes,
// so we don't verify command completion. Instead we use this to
// adjust final landing parameters
// when aborting a landing, mimic the verify_takeoff with steering hold. Once
// the altitude has been reached, restart the landing sequence
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
throttle_suppressed = false;
auto_state.land_complete = false;
auto_state.land_pre_flare = false;
nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));
// see if we have reached abort altitude
if (adjusted_relative_altitude_cm() > auto_state.takeoff_altitude_rel_cm) {
next_WP_loc = current_loc;
mission.stop();
bool success = restart_landing_sequence();
mission.resume();
if (!success) {
// on a restart failure lets RTL or else the plane may fly away with nowhere to go!
set_mode(RTL, MODE_REASON_MISSION_END);
}
// make sure to return false so it leaves the mission index alone
}
return false;
}
float height = height_above_target();
// use rangefinder to correct if possible
height -= rangefinder_correction();
/* Set land_complete (which starts the flare) under 3 conditions:
1) we are within LAND_FLARE_ALT meters of the landing altitude
2) we are within LAND_FLARE_SEC of the landing point vertically
by the calculated sink rate (if LAND_FLARE_SEC != 0)
3) we have gone past the landing point and don't have
rangefinder data (to prevent us keeping throttle on
after landing if we've had positive baro drift)
*/
#if RANGEFINDER_ENABLED == ENABLED
bool rangefinder_in_range = rangefinder_state.in_range;
#else
bool rangefinder_in_range = false;
#endif
// flare check:
// 1) below flare alt/sec requires approach stage check because if sec/alt are set too
// large, and we're on a hard turn to line up for approach, we'll prematurely flare by
// skipping approach phase and the extreme roll limits will make it hard to line up with runway
// 2) passed land point and don't have an accurate AGL
// 3) probably crashed (ensures motor gets turned off)
bool on_approach_stage = (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE);
bool below_flare_alt = (height <= g.land_flare_alt);
bool below_flare_sec = (aparm.land_flare_sec > 0 && height <= auto_state.sink_rate * aparm.land_flare_sec);
bool probably_crashed = (g.crash_detection_enable && fabsf(auto_state.sink_rate) < 0.2f && !is_flying());
if ((on_approach_stage && below_flare_alt) ||
(on_approach_stage && below_flare_sec && (auto_state.wp_proportion > 0.5)) ||
(!rangefinder_in_range && auto_state.wp_proportion >= 1) ||
probably_crashed) {
if (!auto_state.land_complete) {
auto_state.post_landing_stats = true;
if (!is_flying() && (millis()-auto_state.last_flying_ms) > 3000) {
gcs_send_text_fmt(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed());
} else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
(double)height, (double)auto_state.sink_rate,
(double)gps.ground_speed(),
(double)get_distance(current_loc, next_WP_loc));
}
auto_state.land_complete = true;
update_flight_stage();
}
if (gps.ground_speed() < 3) {
// reload any airspeed or groundspeed parameters that may have
// been set for landing. We don't do this till ground
// speed drops below 3.0 m/s as otherwise we will change
// target speeds too early.
g.airspeed_cruise_cm.load();
g.min_gndspeed_cm.load();
aparm.throttle_cruise.load();
}
} else if (!auto_state.land_complete && !auto_state.land_pre_flare && aparm.land_pre_flare_airspeed > 0) {
bool reached_pre_flare_alt = g.land_pre_flare_alt > 0 && (height <= g.land_pre_flare_alt);
bool reached_pre_flare_sec = g.land_pre_flare_sec > 0 && (height <= auto_state.sink_rate * g.land_pre_flare_sec);
if (reached_pre_flare_alt || reached_pre_flare_sec) {
auto_state.land_pre_flare = true;
update_flight_stage();
}
}
/*
when landing we keep the L1 navigation waypoint 200m ahead. This
prevents sudden turns if we overshoot the landing point
*/
struct Location land_WP_loc = next_WP_loc;
int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(land_WP_loc,
land_bearing_cd*0.01f,
get_distance(prev_WP_loc, current_loc) + 200);
nav_controller->update_waypoint(prev_WP_loc, land_WP_loc);
// once landed and stationary, post some statistics
// this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
if (auto_state.post_landing_stats && !arming.is_armed()) {
auto_state.post_landing_stats = false;
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
}
// check if we should auto-disarm after a confirmed landing
disarm_if_autoland_complete();
/*
we return false as a landing mission item never completes
we stay on this waypoint unless the GCS commands us to change
mission item, reset the mission, command a go-around or finish
a land_abort procedure.
*/
return false;
}
/*
update navigation for landing. Called when on landing approach or
final flare
*/
bool Plane::verify_land()
{
// we don't 'verify' landing in the sense that it never completes,
// so we don't verify command completion. Instead we use this to
// adjust final landing parameters
// If a go around has been commanded, we are done landing. This will send
// the mission to the next mission item, which presumably is a mission
// segment with operations to perform when a landing is called off.
// If there are no commands after the land waypoint mission item then
// the plane will proceed to loiter about its home point.
if (auto_state.commanded_go_around) {
return true;
}
float height = height_above_target();
// use rangefinder to correct if possible
height -= rangefinder_correction();
/* Set land_complete (which starts the flare) under 3 conditions:
1) we are within LAND_FLARE_ALT meters of the landing altitude
2) we are within LAND_FLARE_SEC of the landing point vertically
by the calculated sink rate (if LAND_FLARE_SEC != 0)
3) we have gone past the landing point and don't have
rangefinder data (to prevent us keeping throttle on
after landing if we've had positive baro drift)
*/
#if RANGEFINDER_ENABLED == ENABLED
bool rangefinder_in_range = rangefinder_state.in_range;
#else
bool rangefinder_in_range = false;
#endif
if (height <= g.land_flare_alt ||
(aparm.land_flare_sec > 0 && height <= auto_state.sink_rate * aparm.land_flare_sec) ||
(!rangefinder_in_range && location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) ||
(fabsf(auto_state.sink_rate) < 0.2f && !is_flying())) {
if (!auto_state.land_complete) {
auto_state.post_landing_stats = true;
if (!is_flying() && (millis()-auto_state.last_flying_ms) > 3000) {
gcs_send_text_fmt(PSTR("Flare crash detected: speed=%.1f"), (double)gps.ground_speed());
} else {
gcs_send_text_fmt(PSTR("Flare %.1fm sink=%.2f speed=%.1f"),
(double)height, (double)auto_state.sink_rate, (double)gps.ground_speed());
}
}
auto_state.land_complete = true;
if (gps.ground_speed() < 3) {
// reload any airspeed or groundspeed parameters that may have
// been set for landing. We don't do this till ground
// speed drops below 3.0 m/s as otherwise we will change
// target speeds too early.
g.airspeed_cruise_cm.load();
g.min_gndspeed_cm.load();
aparm.throttle_cruise.load();
}
}
/*
when landing we keep the L1 navigation waypoint 200m ahead. This
prevents sudden turns if we overshoot the landing point
*/
struct Location land_WP_loc = next_WP_loc;
int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(land_WP_loc,
land_bearing_cd*0.01f,
get_distance(prev_WP_loc, current_loc) + 200);
nav_controller->update_waypoint(prev_WP_loc, land_WP_loc);
// once landed and stationary, post some statistics
// this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
if (auto_state.post_landing_stats && !arming.is_armed()) {
auto_state.post_landing_stats = false;
gcs_send_text_fmt(PSTR("Distance from LAND point=%.2fm"), (double)get_distance(current_loc, next_WP_loc));
}
// check if we should auto-disarm after a confirmed landing
disarm_if_autoland_complete();
/*
we return false as a landing mission item never completes
we stay on this waypoint unless the GCS commands us to change
mission item or reset the mission, or a go-around is commanded
*/
return false;
}
