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Offset FW autoland loiter position perpendicular to runway #11489

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Offset FW autoland loiter position perpendicular to runway #11489

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22 changes: 21 additions & 1 deletion src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -2462,7 +2462,27 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_FW_LANDING_LOITER(navig
}
}

fpVector3_t tmpPoint = posControl.fwLandState.landPos;
// Offset loiter position perpendicular to runway in the approach circuit direction (LEFT/RIGHT)
fpVector3_t tmpPoint;
int32_t refHeading = 0;
if (fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landApproachHeading1 != 0) {
refHeading = ABS(DEGREES_TO_CENTIDEGREES(fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landApproachHeading1));
} else if (fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landApproachHeading2 != 0) {
refHeading = ABS(DEGREES_TO_CENTIDEGREES(fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->landApproachHeading2));
}

if (refHeading != 0) {
int32_t offsetDir;
if (fwAutolandApproachConfig(posControl.fwLandState.approachSettingIdx)->approachDirection == FW_AUTOLAND_APPROACH_DIRECTION_LEFT) {
offsetDir = wrap_36000(refHeading - 9000);
} else {
offsetDir = wrap_36000(refHeading + 9000);
}
calculateFarAwayPos(&tmpPoint, &posControl.fwLandState.landPos, offsetDir, navConfig()->fw.loiter_radius);
} else {
tmpPoint = posControl.fwLandState.landPos;
}

tmpPoint.z = posControl.fwLandState.landAproachAltAgl;
setDesiredPosition(&tmpPoint, posControl.fwLandState.landPosHeading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);

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