From 079c5a11c2e2eefe88cd1bf7a9a92b74a1222cf5 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 14 Jul 2020 15:32:32 +0200 Subject: [PATCH] FlightTaskAuto: allow rc assist to stop descend Before the autohority was only enough to slow down the descend but not stop to zero vertical velocity. --- .../tasks/AutoMapper/FlightTaskAutoMapper.cpp | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp index 981e65a720..64fb8d2546 100644 --- a/src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp +++ b/src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp @@ -193,14 +193,7 @@ float FlightTaskAutoMapper::_getLandSpeed() // user input assisted land speed if (_param_mpc_land_rc_help.get()) { _sticks.evaluateSticks(_time_stamp_current); - const float head_room = _constraints.speed_down - land_speed; - - speed = land_speed + _sticks.getPositionExpo()(2) * head_room; - - // Allow minimum assisted land speed to be half of parameter - if (speed < land_speed * 0.5f) { - speed = land_speed * 0.5f; - } + speed = land_speed + _sticks.getPositionExpo()(2) * land_speed; } }