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FlightTaskAuto: allow rc assist to stop descend

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Before the autohority was only enough to slow down the descend but not
stop to zero vertical velocity.
This commit is contained in:
Matthias Grob
2020-07-16 19:01:22 +02:00
committed by Julian Kent
parent 91c0f19121
commit 079c5a11c2
1 changed files with 1 additions and 8 deletions
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src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
+1 -8
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@@ -193,14 +193,7 @@ float FlightTaskAutoMapper::_getLandSpeed()
// user input assisted land speed // user input assisted land speed
if (_param_mpc_land_rc_help.get()) { if (_param_mpc_land_rc_help.get()) {
_sticks.evaluateSticks(_time_stamp_current); _sticks.evaluateSticks(_time_stamp_current);
const float head_room = _constraints.speed_down - land_speed; speed = land_speed + _sticks.getPositionExpo()(2) * 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;
}
} }
} }