VTOL: Pusher assist: add configuration for enabling it in LAND /disable below some altitude #14706
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sfuhrer
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@sfuhrer Do you think you could add a docs PR for this - ie perhaps update http://docs.px4.io/master/en/flight_modes/land.html#vtol to explain how land mode works/has changed by this? |
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@hamishwillee yes I can do that once this is in. We should also document the pusher assist somewhere, don't think it is. |
…assist in LAND mode Depending on the setting of this param, the pusher assist is: -completely disabled -enabled in pos, alt and auto mode (except LAND) -enabled in pos, alt and auto mode (except LAND and below MPC_LAND_ALT1 -enabled in pos, alt and auto mode (except LANd and below MPC_LAND_ALT2 -enabled in pos, alt and auto mode (before it was always disabled in LAND mode) Signed-off-by: Silvan Fuhrer <[email protected]>
Signed-off-by: Silvan Fuhrer <[email protected]>
Change possible as now the pusher assist is enabled/disabled by VT_FWD_TRHUST_EN, wich by defaulot is 0 (disabled pusher assist) Signed-off-by: Silvan Fuhrer <[email protected]>
…n LAND Signed-off-by: Silvan Fuhrer <[email protected]>
…m if available Signed-off-by: Silvan Fuhrer <[email protected]>
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| // Altitude above ground is distance sensor altitude if available, otherwise local z-position | ||
| float dist_to_ground = -_local_pos->z; | ||
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| if (_local_pos->dist_bottom_valid) { |
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@RomanBapst I assume dist_bottom_valid is only true when you have a distance sensor connected? How come then that it still has a value even without one, shouldn't it then be NAN?
Awesome. Yes, pusher-assist docs would be great too. In general any feature that isn't documented is just wasted. |
Enables the pusher assist feature also in landing mode.
Adds new parameter VT_FWD_TRUST_EN to set when pusher assist should be active (e.g. turn off if below MPC_ALT_LAND1).
Describe problem solved by this pull request
This PR solves two current limitations:
Describe your solution
Add new parameter to set when pusher assist should be active:
-completely disabled (default)
-enabled in pos, alt and auto mode (except LAND)
-enabled in pos, alt and auto mode if above MPC_LAND_ALT1
-enabled in pos, alt and auto mode if above MPC_LAND_ALT2
-enabled in pos, alt and auto mode
Test data / coverage
SITL and flight tested.