Navigator: Set altitude acceptance radius to infinity when moving to land point after transition

[RomanBapst]

Solved Problem

After a VTOL backtransition the vehicle might not be close enough to the land point and thus needs to move horizontally.
It can happened that during this process the vehicle loses altitude and thus reaches the land point without being within the acceptance radius of the land point. In cases of strong wind or depleted batteries, it might not be possible for the vehicle to climb into the acceptance radius. However, this is also unnecessary, as the goal is eventually to descend.

Solution

Set the altitude acceptance radius to infinity when we are moving to the land point after the backtransition.

Changelog Entry

For release notes:

Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarify page ... / done, read docs.px4.io/...

Alternatives

We could also ...

Test coverage

• Unit/integration test: ...
• Simulation/hardware testing logs: https://review.px4.io/

Context

Related links, screenshot before/after, video

[github-actions]

🔎 FLASH Analysis

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Updated: 2024-12-20T06:59:46

[sfuhrer]

I agree with the logic, just need to double check the one comment.
How extensive did you SITL test it?

[RomanBapst]

@sfuhrer I tested this in SITL for all three cases by deliberately making the vehicle overshoot the transition and by adding a hack which increases the altitude setpoint of the land point, once the transition is finished.
I was able to compare behavior with and without the fix.

[sfuhrer]

Thanks!