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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-03 20:44:12 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-03 20:44:12 +0100 |
| commit | 9d5f422d245de4ead6b37193e7862ba771febb83 (patch) | |
| tree | 6f177520571a23cf8414d6dfa38fde1819b1c9a5 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 937b502d4c3fd582f7be736240f5971e8c0f7c2b (diff) | |
| download | px4-firmware-9d5f422d245de4ead6b37193e7862ba771febb83.tar.gz px4-firmware-9d5f422d245de4ead6b37193e7862ba771febb83.tar.bz2 px4-firmware-9d5f422d245de4ead6b37193e7862ba771febb83.zip | |
fix land_noreturn logic
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, 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 9060eac90..1a263b741 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 @@ -766,7 +766,7 @@ 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; //} @@ -774,8 +774,7 @@ 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 { |