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VTOL: Rework altitude-loss quad-chute #20916

Merged
merged 2 commits into from
Jan 19, 2023
Merged

VTOL: Rework altitude-loss quad-chute #20916

merged 2 commits into from
Jan 19, 2023

Commits on Jan 18, 2023

  1. VTOL: introduce new quad-chute check for altitude loss during front t… 

    …ransition

By default the threshold is set to 10m.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Jan 18, 2023
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  2. VTOL: Quad-chute: rework loss of altitude condition 

    Previously the condition was based on hard coded height rate estimate and
setpoint values and an altitude error threshold. That showed to be leading
to false positives when the vehicle doesn't tightly follow the altitdue
ramp given by TECS to achieve a new altitude setpoint, and has become
completely infeasibly with the latest TECS rework that leads to non-ramped
altitude setpoint changes in the tecs_status message.
The new check no longer checks the altitude error but only the height rate
instead. It begins to integrate the height rate error once it detects an
uncommanded descend condition (height rate negative while setpoint is
positive). Integral threshold can be tuned by user (VT_QC_HR_ERROR_I).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Jan 18, 2023
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