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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-31 17:58:43 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-31 17:58:43 +0200 |
| commit | 0e954b30c2ef3e31d60e5ef7a5fa985882baef8f (patch) | |
| tree | e7b023eb094a590528eb85bd413c19318486f3c2 /src | |
| parent | c17c585c3e977688ad5ff64812fd499c0410f2da (diff) | |
| download | px4-firmware-0e954b30c2ef3e31d60e5ef7a5fa985882baef8f.tar.gz px4-firmware-0e954b30c2ef3e31d60e5ef7a5fa985882baef8f.tar.bz2 px4-firmware-0e954b30c2ef3e31d60e5ef7a5fa985882baef8f.zip | |
Rely on laser altitude once valid
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 |
1 files changed, 1 insertions, 1 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 522f5caca..c983ac6f9 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 @@ -823,7 +823,7 @@ float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, * the measurement is valid * the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt */ - if (range_finder_use_relative_alt < 0 || !range_finder.valid || rel_alt_estimated > range_finder_use_relative_alt ) { + if (range_finder_use_relative_alt < 0 || !range_finder.valid || range_finder.distance > range_finder_use_relative_alt ) { return rel_alt_estimated; } |