Copter: refactor landing to reduce duplication, use vertical vel ff, slow down precision landing descent based on position error #4445
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That last commit should allow travis to do its thing, and it can be removed when the PR goes into PX4Firmware. |
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I guess we can close the older PR 'cuz this one includes all it's goodness? |
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Depends how you want to do it. You can merge that one and then review the changes made in this one if you like. |
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Merged, thanks! |
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This is based on #4437
Using the vertical velocity feedforward was needed to make the slowdown more responsive. I've tested it in SITL - here's a plot of a 7 m/s (extremely fast) descent slowing down to LAND_SPEED by 7.5 m height:
This has had changes since I did the testing, so I will re-do the testing today.