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fw landing: impose horizontal limit for start of flare

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Thomas Gubler
2014-09-03 18:53:05 +02:00
parent 2761f98ab6
commit 139ca8c327
1 changed files with 5 additions and 1 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+5 -1
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@@ -999,7 +999,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float relative_alt = get_relative_landingalt(_pos_sp_triplet.current.alt, _global_pos.alt, _range_finder, _parameters.range_finder_rel_alt);
if ( (relative_alt < landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
/* Check if we should start flaring with a vertical and a
* horizontal limit (with some tolerance) */
if ( ((relative_alt < landingslope.flare_relative_alt()) &&
(wp_distance < landingslope.flare_length() + 5.0f)) ||
land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
/* land with minimal speed */