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Minor fixes for motor off case

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This commit is contained in:
Lorenz Meier 2013-11-06 14:43:29 +01:00
parent 7ad907e638
commit 56aa8c7e8d
1 changed files with 4 additions and 4 deletions
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8
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -820,7 +820,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
float L_altitude = getLandingSlopeAbsoluteAltitude(L_wp_distance, _global_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
float landing_slope_alt_desired = getLandingSlopeAbsoluteAltitude(wp_distance, _global_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
if (_global_pos.alt < _global_triplet.current.altitude + flare_relative_alt || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
if (((wp_distance < 2.0f * math::max(15.0f, flare_relative_alt)) && (_global_pos.alt < _global_triplet.current.altitude + flare_relative_alt)) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
/* land with minimal speed */
@ -830,9 +830,9 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* kill the throttle if param requests it */
throttle_max = _parameters.throttle_max;
if (_global_pos.alt < _global_triplet.current.altitude + motor_lim_relative_alt) {
// if ((_global_pos.alt < _global_triplet.current.altitude + motor_lim_relative_alt)) {
throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
}
// }
float flare_curve_alt = _global_triplet.current.altitude + H0 * expf(-math::max(0.0f, flare_length - wp_distance)/flare_constant) - H1;
@ -897,7 +897,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
_att_sp.yaw_body = _l1_control.nav_bearing();
/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
if (altitude_error > 10.0f) {
if (altitude_error > 15.0f) {
/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min),