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Merge branch 'fw_autoland' into fw_autoland_att_tecs

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Thomas Gubler
2013-11-03 20:44:56 +01:00
parent e5fbf3bc51 9d5f422d24
commit 4db049144f
1 changed files with 2 additions and 3 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -3
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@@ -771,7 +771,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
// target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), next_wp.getX(), next_wp.getY()); // target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), next_wp.getX(), next_wp.getY());
// } else { // } else {
if (!land_noreturn) if (!land_noreturn) //set target_bearing in first occurrence
target_bearing = _att.yaw; target_bearing = _att.yaw;
//} //}
@@ -779,8 +779,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
_l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed); _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed);
if (altitude_error > -5.0f) land_noreturn = true;
land_noreturn = true;
} else { } else {