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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-03 20:44:56 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-03 20:44:56 +0100 |
| commit | 4db049144ff66cdabf9c8cba08cb8200e6a614b5 (patch) | |
| tree | f48dba9c3fbce5603db0b0d940c08dfecfcd5529 | |
| parent | e5fbf3bc51b9cf17d05c314f514ca6ada54dc736 (diff) | |
| parent | 9d5f422d245de4ead6b37193e7862ba771febb83 (diff) | |
| download | px4-firmware-4db049144ff66cdabf9c8cba08cb8200e6a614b5.tar.gz px4-firmware-4db049144ff66cdabf9c8cba08cb8200e6a614b5.tar.bz2 px4-firmware-4db049144ff66cdabf9c8cba08cb8200e6a614b5.zip | |
Merge branch 'fw_autoland' into fw_autoland_att_tecs
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 1b279ed55..a51eff512 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -771,7 +771,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_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; //} @@ -779,8 +779,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed); - if (altitude_error > -5.0f) - land_noreturn = true; + land_noreturn = true; } else { |