[Paparazzi-devel] Optimized landing block

[Reto Büttner]

Hi guys,

I guess I have found a small bug in the basic paparazzi landing block
(basic.xml). The original is:

<block name="land">
      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
      <circle radius="nav_radius"
until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 >
fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
    </block>

This works fine for a right landing, but it does not align nicely on a
left landing. Therefore I use:

    <block name="land">
      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
      <circle radius="nav_radius"
until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*20),
10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
    </block>

Works fine for me. If someone else could test this and integrate it
into the basic landing block on git.

Cheers,
Reto