Navigator: Land: Improve it for VTOL by taking breaking distance into…

… account (#23566) * vtol adjust landing setpoint * improve comment Co-authored-by: Silvan Fuhrer <[email protected]> --------- Co-authored-by: Silvan Fuhrer <[email protected]>
PX4 · Aug 22, 2024 · ee022a7 · ee022a7
1 parent e0bb56b
commit ee022a7
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/src/modules/navigator/land.cpp b/src/modules/navigator/land.cpp
@@ -86,10 +86,8 @@ Land::on_active()
 	    _navigator->get_vstatus()->in_transition_mode) {
 		struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 
-		// create a virtual wp 1m in front of the vehicle to track during the backtransition
-		waypoint_from_heading_and_distance(_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
-						   _navigator->get_local_position()->heading, 1.f,
-						   &pos_sp_triplet->current.lat, &pos_sp_triplet->current.lon);
+		// create a wp in front of the VTOL while in back-transition, based on MPC settings that will apply in MC phase afterwards
+		_navigator->calculate_breaking_stop(pos_sp_triplet->current.lat, pos_sp_triplet->current.lon);
 
 		_navigator->set_position_setpoint_triplet_updated();
 	}