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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-03 19:22:14 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-03 19:22:14 +0200 |
| commit | 66c08c9b24aad4c0c646a7dca3e9ceb15241c3d9 (patch) | |
| tree | a55ee05384be28a259aa4398c340fba47b3d4cfd /src/modules/fw_pos_control_l1 | |
| parent | 082cd5f95d82c31eff734ba3a4fb8c71077ac90d (diff) | |
| parent | 139ca8c327a80b61213e2d75dd8819cf119d22d7 (diff) | |
| download | px4-firmware-66c08c9b24aad4c0c646a7dca3e9ceb15241c3d9.tar.gz px4-firmware-66c08c9b24aad4c0c646a7dca3e9ceb15241c3d9.tar.bz2 px4-firmware-66c08c9b24aad4c0c646a7dca3e9ceb15241c3d9.zip | |
Merge branch 'flarehorizontallimit' into fwlandingterrain
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 | 7 |
1 files changed, 5 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 ae8d69827..409b57d63 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 @@ -967,8 +967,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi 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_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp); - - if ( (_global_pos.alt < terrain_alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out + /* Check if we should start flaring with a vertical and a + * horizontal limit (with some tolerance) */ + if (((_global_pos.alt < terrain_alt + landingslope.flare_relative_alt()) && + (wp_distance < landingslope.flare_length() + 5.0f)) || + land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out /* land with minimal speed */ // /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */ |