#include <Landingslope.hpp>

Collaboration diagram for Landingslope:

Public Member Functions
	Landingslope ()=default

	~Landingslope ()=default

float	getLandingSlopeRelativeAltitude (float wp_landing_distance)

float	getLandingSlopeRelativeAltitudeSave (float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp)

float	getFlareCurveRelativeAltitudeSave (float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp)

void	update (float landing_slope_angle_rad_new, float flare_relative_alt_new, float motor_lim_relative_alt_new, float H1_virt_new)

float	landing_slope_angle_rad ()

float	flare_relative_alt ()

float	motor_lim_relative_alt ()

float	flare_length ()

float	horizontal_slope_displacement ()

Static Public Member Functions
static float	getLandingSlopeRelativeAltitude (float wp_landing_distance, float horizontal_slope_displacement, float landing_slope_angle_rad)

static float	getLandingSlopeAbsoluteAltitude (float wp_landing_distance, float wp_landing_altitude, float horizontal_slope_displacement, float landing_slope_angle_rad)

static float	getLandingSlopeWPDistance (float slope_altitude, float wp_landing_altitude, float horizontal_slope_displacement, float landing_slope_angle_rad)

Private Member Functions
void	calculateSlopeValues ()

Private Attributes
float	_landing_slope_angle_rad {0.0f}
	phi in the plot More...

float	_flare_relative_alt {0.0f}
	h_flare,rel in the plot More...

float	_motor_lim_relative_alt {0.0f}

float	_H1_virt {0.0f}
	H1 in the plot. More...

float	_H0 {0.0f}
	h_flare,rel + H1 in the plot More...

float	_d1 {0.0f}
	d1 in the plot More...

float	_flare_constant {0.0f}

float	_flare_length {0.0f}
	d1 + delta d in the plot More...

float	_horizontal_slope_displacement {0.0f}
	delta d in the plot More...

Detailed Description

Definition at line 45 of file Landingslope.hpp.

Constructor & Destructor Documentation

◆ Landingslope()

Landingslope::Landingslope ( )

default

◆ ~Landingslope()

Landingslope::~Landingslope ( )

default

Member Function Documentation

◆ calculateSlopeValues()

void Landingslope::calculateSlopeValues ( )

private

Definition at line 59 of file Landingslope.cpp.

References _d1, _flare_constant, _flare_length, _flare_relative_alt, _H0, _H1_virt, _horizontal_slope_displacement, and _landing_slope_angle_rad.

Referenced by update().

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◆ flare_length()

float Landingslope::flare_length ( )

inline

Definition at line 112 of file Landingslope.hpp.

References _flare_length.

Referenced by FixedwingPositionControl::control_landing(), and FixedwingPositionControl::landing_status_publish().

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◆ flare_relative_alt()

float Landingslope::flare_relative_alt ( )

inline

Definition at line 110 of file Landingslope.hpp.

References _flare_relative_alt.

Referenced by FixedwingPositionControl::control_landing().

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◆ getFlareCurveRelativeAltitudeSave()

float Landingslope::getFlareCurveRelativeAltitudeSave	(	float	wp_landing_distance,
		float	bearing_lastwp_currwp,
		float	bearing_airplane_currwp
	)

Definition at line 89 of file Landingslope.cpp.

References _flare_constant, _flare_length, _H0, _H1_virt, f(), math::max(), and math::radians().

Referenced by FixedwingPositionControl::control_landing().

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◆ getLandingSlopeAbsoluteAltitude()

float Landingslope::getLandingSlopeAbsoluteAltitude	(	float	wp_landing_distance,
		float	wp_landing_altitude,
		float	horizontal_slope_displacement,
		float	landing_slope_angle_rad
	)

static

Returns: Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance

Definition at line 116 of file Landingslope.cpp.

References getLandingSlopeRelativeAltitude().

Referenced by MissionFeasibilityChecker::checkFixedWingLanding().

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◆ getLandingSlopeRelativeAltitude() [1/2]

float Landingslope::getLandingSlopeRelativeAltitude ( float wp_landing_distance )

Returns: relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance

Definition at line 69 of file Landingslope.cpp.

References _horizontal_slope_displacement, and _landing_slope_angle_rad.

Referenced by getLandingSlopeAbsoluteAltitude(), and getLandingSlopeRelativeAltitudeSave().

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◆ getLandingSlopeRelativeAltitude() [2/2]

float Landingslope::getLandingSlopeRelativeAltitude	(	float	wp_landing_distance,
		float	horizontal_slope_displacement,
		float	landing_slope_angle_rad
	)

static

Returns: Relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance

Definition at line 105 of file Landingslope.cpp.

◆ getLandingSlopeRelativeAltitudeSave()

float Landingslope::getLandingSlopeRelativeAltitudeSave	(	float	wp_landing_distance,
		float	bearing_lastwp_currwp,
		float	bearing_airplane_currwp
	)

Returns: relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance Performs check if aircraft is in front of waypoint to avoid climbout

Definition at line 76 of file Landingslope.cpp.

References f(), getLandingSlopeRelativeAltitude(), and math::radians().

Referenced by FixedwingPositionControl::control_landing().

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◆ getLandingSlopeWPDistance()

float Landingslope::getLandingSlopeWPDistance	(	float	slope_altitude,
		float	wp_landing_altitude,
		float	horizontal_slope_displacement,
		float	landing_slope_angle_rad
	)