[7.1-RC1] Autoland-Fix #9794
[7.1-RC1] Autoland-Fix #9794
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| @@ -2400,14 +2422,14 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_GLIDE(naviga | |||
| return NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING_ABORT; | |||
| } | |||
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| if (getLandAltitude() <= posControl.fwLandState.landAltAgl + navFwAutolandConfig()->flareAltitude) { | |||
| if (getHwRangefinderStatus() == HW_SENSOR_OK && getLandAltitude() <= posControl.fwLandState.landAltAgl + navFwAutolandConfig()->flareAltitude) { | |||
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posControl.flags.estAglStatus >= EST_USABLE might be better here ?
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If then posControl.flags.estAglStatus == EST_TRUSTED we are very close to the ground, should only be active if the rangefinder is accurate.
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OK, I realised you're using the direct output from the range finder in getLandAltitude so this makes sense in that case.
| } else if (landEvent == NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME) { | ||
| } else | ||
| #endif | ||
| if (landEvent == NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME) { |
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Can this ever be returned from navOnEnteringState_NAV_STATE_RTH_LANDING ?
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Yes, occurs at landing waypoints.
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But it isn't specifically returned from navOnEnteringState_NAV_STATE_RTH_LANDING is my point so landEvent can never have this value surely ?
It can though have a value of NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING which isn't handled by the WP RTH landing state. But that's an existing error so nothing to do with Auto Landing.
Would probably be better to have RTH/WP landing handled as a separate common end phase of either mode ... a future change though to tidy things up.
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Oh, you mean NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME sorry.
Yes, you're right.
I slipped in the line.
This is from an old version, yes that can go.
Yes, you're right.
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Sorry, yes I meant NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME. Swap it for NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING and it'll fix 2 issues at the same time.
Redo of #9754