PX4用户指南-飞行-固定翼降落
PX4用户指南-飞行-固定翼降落
说明:
- 介绍如何实现固定翼降落
着陆:
PX4可在任务,陆地模式和返回模式下实现自动驾驶仪控制的固定翼(FW)着陆。
着陆逻辑有几个阶段,如下所示。
在第一阶段,车辆将沿着固定轨迹(FW_LND_ANG)朝向地面。
在着陆高度(FW_LND_FLALT)处,车辆将开始跟随路径(该曲线基于FW_LND_HVIRT的值)。
着陆高度相对于FW车辆“认为”为地平面的高度。 在陆地模式下,地面高度未知,车辆将使用假设它在0米(海平面)。 通常地面高度将远高于海平面,因此车辆将在第一阶段着陆(它将在到达火炬高度之前降落在地面上)。
在任务中,返回模式,或者如果车辆安装了范围传感器,则可以准确地估计地面水平,并且着陆行为将如上图所示。
着陆受以下参数的影响:
Parameter | Description |
---|---|
FW_LND_ANG | Landing slope angle prior to flaring |
FW_LND_HVIRT | Virtual horizontal line/altitude used to calculate the flare trajectory. This represents the sub-ground altitude that the flare-path curve asymptotically approaches. |
FW_LND_FLALT | Landing flare altitude (relative to landing altitude) |
FW_LND_TLALT | Landing throttle limit altitude (relative landing altitude). The default value of -1.0 lets the system default to applying throttle limiting at 2/3 of the flare altitude. |
FW_LND_HHDIST | Landing heading hold horizontal distance |
FW_LND_USETER | Use terrain estimate (ground altitude from GPS) during landing. This is turned off by default and a waypoint or return altitude is normally used (or sea level for an arbitrary land position). |
FW_LND_FL_PMIN | Minimum pitch during flare. A positive sign means nose up Applied once FW_LND_TLALT is reached |
FW_LND_FL_PMAX | Maximum pitch during flare. A positive sign means nose up Applied once FW_LND_TLALT is reached |
FW_LND_AIRSPD_SC | Min. airspeed scaling factor for landing. Comment: Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN x FW_LND_AIRSPD_SC |
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