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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-15 16:39:18 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-15 16:39:18 +0100 |
| commit | 5894d72aa8077eae559f4444adb9203d59754f5f (patch) | |
| tree | f1c442a3734b394b2eebec9c10440fd602f5410f /src/modules | |
| parent | 37d2cff83d3ecd697afb13a991b3c96133178318 (diff) | |
| download | px4-firmware-5894d72aa8077eae559f4444adb9203d59754f5f.tar.gz px4-firmware-5894d72aa8077eae559f4444adb9203d59754f5f.tar.bz2 px4-firmware-5894d72aa8077eae559f4444adb9203d59754f5f.zip | |
fw landing: do not use relative altitudes in TECS
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 4 |
1 files changed, 2 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 32e00659b..244b82ee1 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 @@ -983,7 +983,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi land_stayonground = true; } - _tecs.update_pitch_throttle(_R_nb, _att.pitch, relative_alt, flare_curve_alt_rel, calculate_target_airspeed(airspeed_land), + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + flare_curve_alt_rel, calculate_target_airspeed(airspeed_land), _airspeed.indicated_airspeed_m_s, eas2tas, false, flare_pitch_angle_rad, 0.0f, throttle_max, throttle_land, @@ -1016,7 +1016,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi altitude_desired_rel = math::max(relative_alt, L_altitude_rel); } - _tecs.update_pitch_throttle(_R_nb, _att.pitch, relative_alt, altitude_desired_rel, calculate_target_airspeed(airspeed_approach), + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach), _airspeed.indicated_airspeed_m_s, eas2tas, false, math::radians(_parameters.pitch_limit_min), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, |