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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 10:29:10 +0100 |
| commit | 0611b26eeace29a366247026534872c714abd76d (patch) | |
| tree | b71c7691094e816e6282ef4ff5c748727cd41199 /src/modules/fw_pos_control_l1 | |
| parent | 37ef10ceead77876108847e31f56ae68015f5784 (diff) | |
| download | px4-firmware-0611b26eeace29a366247026534872c714abd76d.tar.gz px4-firmware-0611b26eeace29a366247026534872c714abd76d.tar.bz2 px4-firmware-0611b26eeace29a366247026534872c714abd76d.zip | |
fw autoland: move constrain of roll to horizontal landing navigation
Conflicts:
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -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 84983785b..bfdca9cce 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 @@ -837,6 +837,9 @@ 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 { @@ -911,8 +914,6 @@ 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; |