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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-02-19 23:32:55 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-02-19 23:32:55 +0100 |
| commit | b7899056f5454d8508a20dff87661c424ad98340 (patch) | |
| tree | c0cf6649c868d86a274869913a53c75cf2d7a4cf /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 60de15ea9d753eef3361778633f7f91fb92aa748 (diff) | |
| download | px4-firmware-b7899056f5454d8508a20dff87661c424ad98340.tar.gz px4-firmware-b7899056f5454d8508a20dff87661c424ad98340.tar.bz2 px4-firmware-b7899056f5454d8508a20dff87661c424ad98340.zip | |
fw autoland: add very short comment
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 |
1 files changed, 2 insertions, 0 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 3367aee9a..64d2b7019 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 @@ -885,8 +885,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float airspeed_land = 1.3f * _parameters.airspeed_min; float airspeed_approach = 1.3f * _parameters.airspeed_min; + /* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */ float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt); + float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt); |