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Revert "AP_Landing: yaw correction on landing"
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This reverts commit 4f9c492.

That commit was causing the landing issue here:

ArduPilot/ardupilot#9993

reverting until we find the correct fix
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@tridge
tridge committed Dec 12, 2018
1 parent 984ce51 commit 9285e9d
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Showing 3 changed files with 10 additions and 57 deletions.
9 changes: 0 additions & 9 deletions libraries/AP_Landing/AP_Landing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,15 +142,6 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
// @Path: AP_Landing_Deepstall.cpp
AP_SUBGROUPINFO(deepstall, "DS_", 15, AP_Landing, AP_Landing_Deepstall),

// @Param: TD_ALT
// @DisplayName: Touch down altitude
// @Description: Altitude to trigger touchdown condition if weight on wheels sensor is not available. Disabled when 0. Recommend using an RTK GPS or rangefinder for accurate altitude
// @Units: m
// @Range: 0 5
// @Increment: 0.01
// @User: Advanced
AP_GROUPINFO("TD_ALT", 16, AP_Landing, touchdown_altitude, 0.0f),

AP_GROUPEND
};

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7 changes: 1 addition & 6 deletions libraries/AP_Landing/AP_Landing.h
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Original file line number Diff line number Diff line change
Expand Up @@ -134,9 +134,6 @@ class AP_Landing {
adjusted_relative_altitude_cm_fn_t adjusted_relative_altitude_cm_fn;
disarm_if_autoland_complete_fn_t disarm_if_autoland_complete_fn;
update_flight_stage_fn_t update_flight_stage_fn;

// saved bearing for yaw correction after touchdown
float runway_bearing;

// support for deepstall landings
AP_Landing_Deepstall deepstall;
Expand All @@ -155,7 +152,6 @@ class AP_Landing {
AP_Int8 flap_percent;
AP_Int8 throttle_slewrate;
AP_Int8 type;
AP_Float touchdown_altitude;

// Land Type STANDARD GLIDE SLOPE

Expand All @@ -169,9 +165,8 @@ class AP_Landing {
struct {
// once landed, post some landing statistics to the GCS
bool post_stats:1;
bool force_flare:1;

bool has_aborted_due_to_slope_recalc:1;
bool touched_down:1;
} type_slope_flags;

void type_slope_do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
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51 changes: 9 additions & 42 deletions libraries/AP_Landing/AP_Landing_Slope.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,8 +29,6 @@ void AP_Landing::type_slope_do_land(const AP_Mission::Mission_Command& cmd, cons

// once landed, post some landing statistics to the GCS
type_slope_flags.post_stats = false;

type_slope_flags.force_flare = false;

type_slope_stage = SLOPE_STAGE_NORMAL;
gcs().send_text(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude);
Expand Down Expand Up @@ -67,26 +65,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
type_slope_stage = SLOPE_STAGE_APPROACH;
}
}

// Check for weight-on-wheels touchdown
AP_LandingGear *landinggear = AP_LandingGear::instance();
bool touchdown_debounced = false;
if (landinggear != nullptr) {
touchdown_debounced = (landinggear->get_wow_state() == AP_LandingGear::LG_WOW) && landinggear->get_wow_state_duration_ms() >= 500;
}
const bool touchdown_alt_override = !is_zero(touchdown_altitude) &&
(height < touchdown_altitude);

if (!type_slope_flags.touched_down) {
if (touchdown_alt_override || touchdown_debounced) {
type_slope_flags.touched_down = true; // sticky flag
type_slope_flags.force_flare = true; // force flare
gcs().send_text(MAV_SEVERITY_INFO, "Touchdown encountered");
}
} else if (type_slope_stage != SLOPE_STAGE_FINAL) {
type_slope_flags.touched_down = false;
}


/* Set land_complete (which starts the flare) under 3 conditions:
1) we are within LAND_FLARE_ALT meters of the landing altitude
2) we are within LAND_FLARE_SEC of the landing point vertically
Expand All @@ -111,10 +90,8 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
if ((on_approach_stage && below_flare_alt) ||
(on_approach_stage && below_flare_sec && (wp_proportion > 0.5)) ||
(!rangefinder_state_in_range && wp_proportion >= 1) ||
type_slope_flags.force_flare ||
probably_crashed) {

type_slope_flags.force_flare = false;
if (type_slope_stage != SLOPE_STAGE_FINAL) {
type_slope_flags.post_stats = true;
if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) {
Expand All @@ -130,7 +107,8 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n

// Check if the landing gear was deployed before landing
// If not - go around
if (landinggear != nullptr && !landinggear->check_before_land()) {
AP_LandingGear *LG_inst = AP_LandingGear::instance();
if (LG_inst != nullptr && !LG_inst->check_before_land()) {
type_slope_request_go_around();
gcs().send_text(MAV_SEVERITY_CRITICAL, "Landing gear was not deployed");
}
Expand Down Expand Up @@ -158,14 +136,11 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
prevents sudden turns if we overshoot the landing point
*/
struct Location land_WP_loc = next_WP_loc;
int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(land_WP_loc,
runway_bearing,
land_bearing_cd*0.01f,
get_distance(prev_WP_loc, current_loc) + 200);
if (!type_slope_flags.touched_down) {
nav_controller->update_waypoint(prev_WP_loc, land_WP_loc);
} else {
nav_controller->update_heading_hold(runway_bearing*100);
}
nav_controller->update_waypoint(prev_WP_loc, land_WP_loc);

// once landed and stationary, post some statistics
// this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
Expand All @@ -177,13 +152,6 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
// check if we should auto-disarm after a confirmed landing
if (type_slope_stage == SLOPE_STAGE_FINAL) {
disarm_if_autoland_complete_fn();

// Check for touchdown
if (!type_slope_flags.touched_down &&
(touchdown_alt_override || touchdown_debounced)) {
type_slope_flags.touched_down = true;
gcs().send_text(MAV_SEVERITY_INFO, "Touchdown encountered");
}
}

/*
Expand Down Expand Up @@ -320,17 +288,16 @@ void AP_Landing::type_slope_setup_landing_glide_slope(const Location &prev_WP_lo
// project a point 500 meters past the landing point, passing
// through the landing point
const float land_projection = 500;
runway_bearing = get_bearing_cd(prev_WP_loc, next_WP_loc) * 0.01f;
type_slope_flags.touched_down = false;
int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);

// now calculate our aim point, which is before the landing
// point and above it
Location loc = next_WP_loc;
location_update(loc, runway_bearing, -flare_distance);
location_update(loc, land_bearing_cd*0.01f, -flare_distance);
loc.alt += aim_height*100;

// calculate point along that slope 500m ahead
location_update(loc, runway_bearing, land_projection);
location_update(loc, land_bearing_cd*0.01f, land_projection);
loc.alt -= slope * land_projection * 100;

// setup the offset_cm for set_target_altitude_proportion()
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