Re: [Paparazzi-devel] fixedwing landing with ultrasonic sensor

[Refik Sever]

Hi Tobias,

I'm glad to hear that. We can also help and test your work. We have
installed a SRF08 sensor.

By the way, energy control wants to increase the airspeed, sometimes by
diving. Will that create a problem in landing?  

Thanks,
Refik

-----Original Message-----
From: address@hidden
[mailto:address@hidden On
Behalf Of Tobias
Sent: Monday, September 2, 2013 6:36 PM
To: PPZ
Subject: [Paparazzi-devel] fixedwing landing with ultrasonic sensor

Hi,

work is in progress :-)   
sensor is already installed and tested (made two flights) unfortunately i m
a little short on time right now but you can start wit something like this


    <block name="land">
      <call fun="gls_init(WP_AF,WP_SD, WP_TOD, WP_TD)"/>
      <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_radi
us))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))"
wp="_BASELEG"/>
    </block>
    <block name="final">
      <exception cond="(ground_alt + 10 > GetPosAlt())" deroute="final2"/>
      <call fun="gls(WP_AF,WP_SD, WP_TOD, WP_TD)"/>
    </block>
    <block name="final2">
      <exception cond="(2 > sonar_distance)" deroute="flare"/>
      <call fun="gls(WP_AF,WP_SD, WP_TOD, WP_TD)"/>
    </block>

the flare could be done by just reducing the airspeedsetpoint - at least
with the energy control this will lead to a really smooth flare

for further implementation I recommend to use a separate function in
guidance.c since this update rate is much higher. 
but as I said work is in progress ;-)

cheers Tobi
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