fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-16 14:17:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

FW landing optionally disable heading hold (#7617)

Browse Source
This commit is contained in:
Daniel Agar
2017-07-28 20:28:54 -04:00
committed by GitHub
parent 5324f30cb6
commit ddc4500753
2 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+1 -1
View File
@@ -842,7 +842,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, cons
// we want the plane to keep tracking the desired flight path until we start flaring
// if we go into heading hold mode earlier then we risk to be pushed away from the runway by cross winds
if (!_land_noreturn_horizontal &&
if ((_parameters.land_heading_hold_horizontal_distance > 0.0f) && !_land_noreturn_horizontal &&
((wp_distance < _parameters.land_heading_hold_horizontal_distance) || _land_noreturn_vertical)) {
if (pos_sp_prev.valid) {