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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-31 22:34:32 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-31 22:34:32 +0200 |
| commit | 2780dc39ce5d47f2d9dfa921062100a1dc86c2be (patch) | |
| tree | 5bdfd18386667a69d0c5dd2c31cc3f8e87a28142 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 84d26185df1aa3a727d0db7b06b262e756eb5248 (diff) | |
| parent | 22d2e26b9cab22fbe3f418b22e74fb05048083e0 (diff) | |
| download | px4-firmware-2780dc39ce5d47f2d9dfa921062100a1dc86c2be.tar.gz px4-firmware-2780dc39ce5d47f2d9dfa921062100a1dc86c2be.tar.bz2 px4-firmware-2780dc39ce5d47f2d9dfa921062100a1dc86c2be.zip | |
Merge pull request #1338 from PX4/throttle_limit_simplified
Simplify throttle limiting on approach
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 | 6 |
1 files changed, 6 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 c983ac6f9..deccab482 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 @@ -569,6 +569,12 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt)); param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative)); param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative)); + + /* check if negative value for 2/3 of flare altitude is set for throttle cut */ + if (_parameters.land_thrust_lim_alt_relative < 0.0f) { + _parameters.land_thrust_lim_alt_relative = 0.66f * _parameters.land_flare_alt_relative; + } + param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance)); param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt)); |