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This commit is contained in:
Alessandro Simovic
2023-03-13 18:04:13 +01:00
parent 929c3cbde9
commit 6c55574cd9
1 changed files with 4 additions and 3 deletions
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src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp
+4 -3
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@@ -256,8 +256,8 @@ FlightTaskAutoPrecisionLanding::run_state_search()
if (try_switch_to_state_move_above_target()) {
return;
}
} else
if (hrt_absolute_time() - _state_start_time > _param_pld_srch_tout.get()*SEC2USEC) {
} else if (hrt_absolute_time() - _state_start_time > _param_pld_srch_tout.get()*SEC2USEC) {
// Search timed out and go to fallback
PX4_WARN("Search timed out");
@@ -369,7 +369,8 @@ bool FlightTaskAutoPrecisionLanding::check_state_conditions(PrecLandState state)
// if we're already in this state, only want to make it invalid if we reached the target but can't see it anymore
if (_state == PrecLandState::MoveAboveTarget) {
if (Vector2f(Vector2f(_landing_target_pose.x_abs, _landing_target_pose.y_abs) - _position.xy()).norm() <= _param_pld_hacc_rad.get()) {
if (Vector2f(Vector2f(_landing_target_pose.x_abs,
_landing_target_pose.y_abs) - _position.xy()).norm() <= _param_pld_hacc_rad.get()) {
// we've reached the position where we last saw the target. If we don't see it now, we need to do something
return _landing_target_pose_valid && _landing_target_pose.abs_pos_valid;