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fixed bug which allowed high roll angle setpoints during final landing approach

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tumbili 2015-09-15 16:41:21 +02:00
parent 683df0eb46
commit 9fdec6f06a
1 changed files with 4 additions and 3 deletions
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7
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -1227,9 +1227,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed_2d);
/* limit roll motion to prevent wings from touching the ground first */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
land_noreturn_horizontal = true;
} else {
@ -1241,6 +1238,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
if (land_noreturn_horizontal) {
/* limit roll motion to prevent wings from touching the ground first */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
}
/* Vertical landing control */
//xxx: using the tecs altitude controller for slope control for now