Copter: Set Force Descend to true only when in the last phase of landing #17824
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may need the same fix in quadplane |
rmackay9
reviewed
Jun 22, 2021
ArduCopter/mode.cpp
Outdated
| @@ -528,10 +529,11 @@ void Mode::land_run_vertical_control(bool pause_descent) | |||
| cmb_rate = MIN(-precland_min_descent_speed, -max_descent_speed+land_slowdown); | |||
| } | |||
| #endif | |||
| force_descend = (MAX(g2.land_alt_low,100) > get_alt_above_ground_cm()); | |||
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just as a small style thing, I think we should move this above the, "#if PRECISION_LANDING == ENABLED" line.
lthall
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I tested this in SITL and it seemed to be setting the ignore_descent_limits flag at the right time so merged, thanks! |
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This PR fixes a problem where the aircraft crashes into the ground it the decent speed is greater than the maximum descent speed the aircraft is capable of. Land currently sets Force_Desend to true at all times. This PR changes this to only be true in the last phase of landing or when land_detect_maybe is true.
Before:
After:
This problem was discovered when descending with the callisto from 500m at 15m/s. This worked very well until we used land rather than a waypoint in a mission. The aircraft's terminal velocity is ~13m/s and attempting to descend at 15m/s resulted in the aircraft impacting the ground at 4m/s. No damage was done (sand) but this is a problem others may face.