fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-06 13:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

change logic to avoid overshoot over landing spot

Browse Source
This commit is contained in:
Thomas Gubler
2013-10-31 17:53:03 +01:00
parent 1214cbe71f
commit 18c5d90188
1 changed files with 1 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+1 -2
View File
@@ -799,10 +799,9 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* 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));
} else if (wp_distance < 60.0f && altitude_error > -20.0f) {
} else if (wp_distance < 60.0f || altitude_error > -20.0f) {
/* minimize speed to approach speed, stay on glide slope */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, landing_slope_alt_desired, calculate_target_airspeed(airspeed_approach),
_airspeed.indicated_airspeed_m_s, eas2tas,
false, flare_angle_rad,