fix(ManualAltitudeSmoothVel): respect terrain lock when smoothing#27270
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julianoes wants to merge 1 commit into
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fix(ManualAltitudeSmoothVel): respect terrain lock when smoothing#27270julianoes wants to merge 1 commit into
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_setOutputState only skipped overwriting _position_setpoint(2) when _terrain_hold was true, which is exclusively a MPC_ALT_MODE 2 (terrain hold) signal. In MPC_ALT_MODE 1 (terrain following) the climb/descend target computed by _terrainFollowing in the parent class was therefore stomped every cycle with the velocity-integrated smoother position, so the controller never saw the AGL-maintaining setpoint and the vehicle flew at fixed Z across terrain when it should do continuous terrain following. Switch the gate to a combined signal that also covers an active _dist_to_ground_lock, which mode 1 _terrainFollowing leaves finite whenever it is updating the position setpoint. Move the lock member to protected so the smoother subclass can read it. Signed-off-by: Julian Oes <julian@oes.ch>
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#26975 is better. |
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Solved Problem
_setOutputState only skipped overwriting _position_setpoint(2) when _terrain_hold was true, which is exclusively a MPC_ALT_MODE 2 (terrain hold) signal.
In MPC_ALT_MODE 1 (terrain following) the climb/descend target computed by _terrainFollowing in the parent class was therefore stomped every cycle with the velocity-integrated smoother position, so the controller never saw the AGL-maintaining setpoint and the vehicle flew at fixed Z across terrain when it should do continuous terrain following.
Solution
Switch the gate to a combined signal that also covers an active _dist_to_ground_lock, which mode 1 _terrainFollowing leaves finite whenever it is updating the position setpoint. Move the lock member to protected so the smoother subclass can read it.
Changelog Entry
For release notes:
FYI @reedev