fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 03:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix missing conversion to absolute altitude

Browse Source
This commit is contained in:
Thomas Gubler
2013-10-31 18:19:16 +01:00
parent 18c5d90188
commit 97a54d1b5e
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+1 -1
View File
@@ -778,7 +778,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
float airspeed_approach = (_parameters.airspeed_min + _parameters.airspeed_trim) / 2.0f;
const float landing_slope_angle_rad = 20.0f/180.0f*M_PI_F; //xxx: param
float landing_slope_alt_desired = wp_distance * tanf(landing_slope_angle_rad);
float landing_slope_alt_desired = wp_distance * tanf(landing_slope_angle_rad) + _global_triplet.current.altitude;
if (altitude_error > -4.0f) {