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yankailab / OpenKAI

OpenKAI: A modern framework for unmanned vehicle and robot control
GNU Affero General Public License v3.0
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aruco and deep distance when landing #31

Closed liuxibo closed 5 years ago

liuxibo commented 6 years ago

I have some questions to ask. https://github.com/yankailab/OpenKAI/blob/d1c11abba0c3b623e9f98f37769bc51f5b8ea5cc/src/Autopilot/Controller/APcopter/APcopter_arucoLanding.cpp#L135 Whether this distance needs to be calculated with the position of the Target ?

Thank you!

yankailab commented 6 years ago

No this distance is just the altitude to ground, which changes according to vehicle’s attitude. NOT the distance to target.

liuxibo commented 6 years ago

Thanks for reply. If the ground is flat, that's ok. If the ground is uneven, there are high and low , I think it is more appropriate to calculate the distance to the detection target.

yankailab commented 6 years ago

will do

yankailab commented 5 years ago

Hello, OpenKAI added its own precision landing instead of using the Ardupilot LAND mode. The new precision landing is supposed to work in Ardupilot GUIDED mode. It navigate the vehicle to land on a ground target with a constant speed controller, therefore the distance to target is not necessary.

This new mode is specially useful in a place with full of aptitude gaps where the downward altimeters would change frequently causing instability, e.g. car roof, dense house area, narrow bridge.

For more information please refer to: https://github.com/yankailab/OpenKAI/blob/master/src/Autopilot/Controller/APcopter/APcopter_land.cpp

Some demo videos (might be) provided later when our YouTube channel is ready. Cheers.