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Navigator: Set altitude acceptance radius to infinity when moving to land point after transition#24115

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sfuhrer merged 2 commits intomainfrom
pr-vtol_land_acceptance_radius
Dec 20, 2024
Merged

Navigator: Set altitude acceptance radius to infinity when moving to land point after transition#24115
sfuhrer merged 2 commits intomainfrom
pr-vtol_land_acceptance_radius

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@RomanBapst RomanBapst commented Dec 16, 2024

Solved Problem

After a VTOL backtransition the vehicle might not be close enough to the land point and thus needs to move horizontally.
It can happened that during this process the vehicle loses altitude and thus reaches the land point without being within the acceptance radius of the land point. In cases of strong wind or depleted batteries, it might not be possible for the vehicle to climb into the acceptance radius. However, this is also unnecessary, as the goal is eventually to descend.

Solution

Set the altitude acceptance radius to infinity when we are moving to the land point after the backtransition.

Changelog Entry

For release notes:

Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarify page ... / done, read docs.px4.io/...

Alternatives

We could also ...

Test coverage

Context

Related links, screenshot before/after, video

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github-actions bot commented Dec 16, 2024 •
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🔎 FLASH Analysis

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Updated: 2024-12-20T06:59:46

@RomanBapst RomanBapst force-pushed the pr-vtol_land_acceptance_radius branch from 35ce352 to f57ebfb Compare December 16, 2024 13:26
KonradRudin
KonradRudin reviewed Dec 17, 2024
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Comment thread src/modules/navigator/mission.cpp
@sfuhrer sfuhrer changed the title Set altitude acceptance radius to infinity when moving to land point after transition Navigator: Set altitude acceptance radius to infinity when moving to land point after transition Dec 19, 2024
sfuhrer
sfuhrer reviewed Dec 19, 2024
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I agree with the logic, just need to double check the one comment.
How extensive did you SITL test it?

Comment thread src/modules/navigator/mission.cpp
Comment thread src/modules/navigator/navigator_main.cpp
@RomanBapst
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RomanBapst commented Dec 20, 2024

@sfuhrer I tested this in SITL for all three cases by deliberately making the vehicle overshoot the transition and by adding a hack which increases the altitude setpoint of the land point, once the transition is finished.
I was able to compare behavior with and without the fix.

@RomanBapst
navigator: set alt acceptance radius to infinity
aeae546 
for land waypoint after backtransition -> avoid
vehicle with depleted battery from not reaching the alt
setpoint and getting stuck
Signed-off-by: RomanBapst <bapstroman@gmail.com>
@RomanBapst
added check for vtol
b9b82ec 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
@RomanBapst RomanBapst force-pushed the pr-vtol_land_acceptance_radius branch from 640a100 to b9b82ec Compare December 20, 2024 06:54
sfuhrer
sfuhrer approved these changes Dec 20, 2024
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Thanks!

@sfuhrer sfuhrer merged commit b765769 into main Dec 20, 2024
@sfuhrer sfuhrer deleted the pr-vtol_land_acceptance_radius branch December 20, 2024 08:21
JoelJ18 pushed a commit to microstrain-robotics/PX4-Autopilot that referenced this pull request Jan 27, 2025
@RomanBapst @JoelJ18
Navigator: Set altitude acceptance radius to infinity when moving to …
192c9b3 
…land point after transition (PX4#24115)

* Navigator: set alt acceptance radius to infinity
for land waypoint after backtransition -> avoid
vehicle with depleted battery from not reaching the alt
setpoint and getting stuck

Signed-off-by: RomanBapst <bapstroman@gmail.com>
AkaiEurus pushed a commit to AkaiEurus/PX4-Autopilot that referenced this pull request Jan 3, 2026
rtl_mission_fast: supplement to PX4#24115
00ae83c
@AkaiEurus AkaiEurus mentioned this pull request Jan 3, 2026
Merged
sfuhrer pushed a commit that referenced this pull request Jan 21, 2026
@AkaiEurus
rtl_mission_fast: supplement to #24115 (#26199)
5635d63 
Co-authored-by: EurusAkai <1826983968@qq.com>
mbjd pushed a commit that referenced this pull request Feb 17, 2026
@AkaiEurus @sfuhrer
rtl_mission_fast: supplement to #24115 (#26199)
ff6719b 
Co-authored-by: EurusAkai <1826983968@qq.com>
TheLukaDragar pushed a commit to TheLukaDragar/PX4-Autopilot that referenced this pull request Feb 24, 2026
@AkaiEurus
rtl_mission_fast: supplement to PX4#24115 (PX4#26199)
a7fb3a5 
Co-authored-by: EurusAkai <1826983968@qq.com>
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