From 82b4e766a553feee5a9253b5d24a267840948243 Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 22 Nov 2019 09:47:54 +0100 Subject: [PATCH] AutoMapper2: re-introduce gradual vertical speed limitation during landing between alt1 and alt2 --- .../tasks/AutoMapper2/FlightTaskAutoMapper2.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/lib/flight_tasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp b/src/lib/flight_tasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp index e9523ec640..15dbb88144 100644 --- a/src/lib/flight_tasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp +++ b/src/lib/flight_tasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp @@ -196,8 +196,10 @@ float FlightTaskAutoMapper2::_getLandSpeed() speed = _constraints.speed_down; } else { - float land_speed = _param_mpc_land_speed.get(); - float head_room = _constraints.speed_down - land_speed; + const float land_speed = math::gradual(_dist_to_ground, + _param_mpc_land_alt2.get(), _param_mpc_land_alt1.get(), + _param_mpc_land_speed.get(), _constraints.speed_down); + const float head_room = _constraints.speed_down - land_speed; speed = land_speed + 2 * (0.5f - throttle) * head_room;