Three stage autonomous multicopter landing #19126
Merged
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Describe problem solved by this pull request
Multirotors hit the ground vertically with land speed
MPC_LAND_SPEED
during autonomous landing. This speed should ensure there's no damage caused upon touch down but is high enough to not unnecessarily prolong the landing procedure. The user expereince of the vehicle hitting the ground at land speed is not necessarily nice. Since it might see the ground approaching using a distance sensor it could slow down further just for touch down.Describe @ThomasDebrunner 's solution
This PR adds params for crawl speed and landing altitude 3. In case distance sensor measurements are available, the vehicle slows down to crawl speed at landing altitude 3, for an extra smooth landing. In case no LIDAR data is available, the behavior doesn't change.
Note: If there's no distance sensor it behaves the same as before.
Test data / coverage
We use this change for months on verious systems including big multirotors and VTOLs now.
Additional context
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