FlightTaskTransition: keep high decelration when overshooting the transition target

MaEtUgR · MaEtUgR · commit e9ea2715ba05 · 2024-12-18T18:12:13.000+01:00
diff --git a/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp b/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp
@@ -119,8 +119,12 @@ float FlightTaskTransition::computeBackTranstionPitchSetpoint()
 		if (dist_to_target_in_moving_direction > FLT_EPSILON) {
 			// Backtransition target point is ahead of the vehicle, compute the desired deceleration
 			deceleration_setpoint = velocity_xy.norm_squared() / (2.f * dist_to_target_in_moving_direction);
-			deceleration_setpoint = math::min(deceleration_setpoint, 2.f * _param_vt_b_dec_mss);
+
+		} else {
+			deceleration_setpoint = 2.f * _param_vt_b_dec_mss;
 		}
+
+		deceleration_setpoint = math::min(deceleration_setpoint, 2.f * _param_vt_b_dec_mss);
 	}
 
 	// Pitch up to reach a negative accel_in_flight_direction otherwise we decelerate too slow

Original file line number	Diff line number	Diff line change
`@@ -119,8 +119,12 @@ float FlightTaskTransition::computeBackTranstionPitchSetpoint()`
`119`	`119`	`if (dist_to_target_in_moving_direction > FLT_EPSILON) {`
`120`	`120`	`// Backtransition target point is ahead of the vehicle, compute the desired deceleration`
`121`	`121`	`deceleration_setpoint = velocity_xy.norm_squared() / (2.f * dist_to_target_in_moving_direction);`
`122`		`- deceleration_setpoint = math::min(deceleration_setpoint, 2.f * _param_vt_b_dec_mss);`
	`122`	`+`
	`123`	`+ } else {`
	`124`	`+ deceleration_setpoint = 2.f * _param_vt_b_dec_mss;`
`123`	`125`	`}`
	`126`	`+`
	`127`	`+ deceleration_setpoint = math::min(deceleration_setpoint, 2.f * _param_vt_b_dec_mss);`
`124`	`128`	`}`
`125`	`129`
`126`	`130`	`// Pitch up to reach a negative accel_in_flight_direction otherwise we decelerate too slow`