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Merge branch 'flarehorizontallimit' into fwlandingterrain

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Conflicts:
	src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
This commit is contained in:
Thomas Gubler
2014-09-03 19:22:14 +02:00
parent 082cd5f95d 139ca8c327
commit 66c08c9b24
1 changed files with 5 additions and 2 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+5 -2
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@@ -967,8 +967,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
if ( (_global_pos.alt < terrain_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 (((_global_pos.alt < terrain_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 */
// /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */