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fix land_noreturn logic

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Thomas Gubler
2013-11-03 20:44:12 +01:00
parent 937b502d4c
commit 9d5f422d24
1 changed files with 2 additions and 3 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -3
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@@ -766,7 +766,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
// target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), next_wp.getX(), next_wp.getY());
// } else {
if (!land_noreturn)
if (!land_noreturn) //set target_bearing in first occurrence
target_bearing = _att.yaw;
//}
@@ -774,8 +774,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
_l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed);
if (altitude_error > -5.0f)
land_noreturn = true;
land_noreturn = true;
} else {