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Plane: added Q_APPROACH_DIST #28072

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Sep 12, 2024
Merged

Plane: added Q_APPROACH_DIST #28072

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12 changes: 11 additions & 1 deletion ArduPlane/quadplane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -538,6 +538,15 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @User: Standard
AP_GROUPINFO("BCK_PIT_LIM", 38, QuadPlane, q_bck_pitch_lim, 10.0f),

// @Param: APPROACH_DIST
// @DisplayName: Q mode approach distance
// @Description: The minimum distance from the destination to use the fixed wing airbrake and approach code for landing approach. This is useful if you don't want the fixed wing approach logic to be used when you are close to the destination. Set to zero to always use fixed wing approach.
// @Units: m
// @Range: 0.0 1000
// @Increment: 1
// @User: Standard
AP_GROUPINFO("APPROACH_DIST", 39, QuadPlane, approach_distance, 0),
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Although it's a bit of a mouthful, we already have Q_FW_LND_APR_RAD - so for consistency, it might make sense to call this Q_FW_LND_APR_DST.

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Q_FW_LND_APR_RAD is related to the circle before transition into the wind stuff. Its not the same thing.


AP_GROUPEND
};

Expand Down Expand Up @@ -2160,7 +2169,8 @@ void QuadPlane::run_xy_controller(float accel_limit)
void QuadPlane::poscontrol_init_approach(void)
{
const float dist = plane.current_loc.get_distance(plane.next_WP_loc);
if (option_is_set(QuadPlane::OPTION::DISABLE_APPROACH)) {
if (option_is_set(QuadPlane::OPTION::DISABLE_APPROACH) ||
(is_positive(approach_distance) && dist < approach_distance)) {
// go straight to QPOS_POSITION1
poscontrol.set_state(QPOS_POSITION1);
gcs().send_text(MAV_SEVERITY_INFO,"VTOL Position1 d=%.1f", dist);
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3 changes: 3 additions & 0 deletions ArduPlane/quadplane.h
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Expand Up @@ -609,6 +609,9 @@ class QuadPlane
return (options.get() & int32_t(option)) != 0;
}

// minimum distance to be from destination to use approach logic
AP_Float approach_distance;

AP_Float takeoff_failure_scalar;
AP_Float maximum_takeoff_airspeed;
uint32_t takeoff_start_time_ms;
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