From 0611b26eeace29a366247026534872c714abd76d Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 24 Nov 2013 08:32:53 +0100 Subject: [PATCH] fw autoland: move constrain of roll to horizontal landing navigation Conflicts: src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 84983785bf..bfdca9cce3 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -837,6 +837,9 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed); + /* limit roll motion to prevent wings from touching the ground first */ + _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f)); + land_noreturn_horizontal = true; } else { @@ -911,8 +914,6 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio 0.0f, throttle_max, throttle_land, flare_angle_rad, math::radians(15.0f)); - /* limit roll motion to prevent wings from touching the ground first */ - _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f)); if (!land_noreturn_vertical) { mavlink_log_info(mavlink_fd, "[POSCTRL] Landing, flare"); land_noreturn_vertical = true;