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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 08:32:53 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 08:32:53 +0100 |
| commit | 94745fa0af93f8e58eaf2d100c482030a838bc46 (patch) | |
| tree | 3b7863170ce7bef63bcebf4e517afe2ef191f4c1 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 6b53c7e841308e112832c6af2368ae3536a91061 (diff) | |
| download | px4-firmware-94745fa0af93f8e58eaf2d100c482030a838bc46.tar.gz px4-firmware-94745fa0af93f8e58eaf2d100c482030a838bc46.tar.bz2 px4-firmware-94745fa0af93f8e58eaf2d100c482030a838bc46.zip | |
fw autoland: move constrain of roll to horizontal landing navigation
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 | 5 |
1 files changed, 3 insertions, 2 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 975ac85ff..7495a39e0 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 @@ -821,6 +821,9 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed); + /* 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 { @@ -896,8 +899,6 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio 0.0f, throttle_max, throttle_land, flare_angle_rad, math::radians(15.0f)); - /* 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)); if (!land_noreturn_vertical) { mavlink_log_info(mavlink_fd, "[POSCTRL] Landing, flare"); land_noreturn_vertical = true; |