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Remove mode_req_local_alt from Descend mode and handle it in FW position controller #23840

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Remove mode_req_local_alt from Descend mode and handle it in FW position controller #23840

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6dfe951
Commander: remove mode_req_local_alt requirement from DESCEND
sfuhrer Oct 22, 2024
e234b58
FW Position Control: handle invalid z or vz measurement in case of na…
sfuhrer Oct 22, 2024
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1 change: 0 additions & 1 deletion src/modules/commander/ModeUtil/mode_requirements.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,6 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
// NAVIGATION_STATE_DESCEND
setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_angular_velocity);
setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_attitude);
setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_local_alt);
setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_prevent_arming);

// NAVIGATION_STATE_TERMINATION
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13 changes: 13 additions & 0 deletions src/modules/fw_pos_control/FixedwingPositionControl.cpp
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Expand Up @@ -968,6 +968,12 @@ FixedwingPositionControl::control_auto_fixed_bank_alt_hold(const float control_i
_att_sp.thrust_body[0] = min(get_tecs_thrust(), _param_fw_thr_max.get());
}

// Special case: if z or vz estimate is invalid we cannot control height anymore. To prevent a
// "climb-away" we set the thrust to 0 in that case.
if (!_local_pos.z_valid || !_local_pos.v_z_valid) {
_att_sp.thrust_body[0] = 0.f;
}

const float pitch_body = get_tecs_pitch();
const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body));
attitude_setpoint.copyTo(_att_sp.q_d);
Expand Down Expand Up @@ -1001,6 +1007,13 @@ FixedwingPositionControl::control_auto_descend(const float control_interval)
const float yaw_body = 0.f;

_att_sp.thrust_body[0] = (_landed) ? _param_fw_thr_min.get() : min(get_tecs_thrust(), _param_fw_thr_max.get());

// Special case: if vz estimate is invalid we cannot control height rate anymore. To prevent a
// "climb-away" we set the thrust to 0 in that case.
if (!_local_pos.v_z_valid) {
_att_sp.thrust_body[0] = 0.f;
}

const float pitch_body = get_tecs_pitch();
const Quatf attitude_setpoint(Eulerf(roll_body, pitch_body, yaw_body));
attitude_setpoint.copyTo(_att_sp.q_d);
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