Re: [Paparazzi-devel] Re: Optimized landing block

[Felix Ruess]

Hi Reto,

I don't have fixedwing to do some actual test flights with this, but I
could integrate this of course if someone else tested it.

What I'm wondering is why you decided to subtract 20 deg instead of
10? Did you get better results not waiting until you are exactly one
the line, but already "exit" the circle 10 degrees earlier?

Cheers, Felix

On Thu, Mar 10, 2011 at 3:09 PM, Reto Büttner <address@hidden> wrote:
> Hi guys,
>
> can someone double check on this and integrate it into the basic
> landing block on git. The same landing block is in versatile and many
> other example flight plans and should be corrected.
>
> Cheers,
> Reto
>
> 2011/2/25 Reto Büttner <address@hidden>:
>> Hi guys,
>>
>> I guess I have found a small bug in the basic paparazzi landing block
>> (basic.xml). The original is:
>>
>> <block name="land">
>>      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
>>      <circle radius="nav_radius" until="NavCircleCount() > 0.5" 
>> wp="_BASELEG"/>
>>      <circle radius="nav_radius"
>> until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 >
>> fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
>>    </block>
>>
>> This works fine for a right landing, but it does not align nicely on a
>> left landing. Therefore I use:
>>
>>    <block name="land">
>>      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
>>      <circle radius="nav_radius" until="NavCircleCount() > 0.5" 
>> wp="_BASELEG"/>
>>      <circle radius="nav_radius"
>> until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*20),
>> 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
>>    </block>
>>
>> Works fine for me. If someone else could test this and integrate it
>> into the basic landing block on git.
>>
>> Cheers,
>> Reto
>>
>
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