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author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-01 14:02:55 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-01 14:02:55 +0100 |
commit | a6b85cfbf76dbe0e829e503a09660ffb11f003d0 (patch) | |
tree | dcfa9aa3bc6a640d8897b5fbefee033442fed8f7 /src | |
parent | 97a54d1b5e684be36819816c03a54fe8bfd1792f (diff) | |
download | px4-firmware-a6b85cfbf76dbe0e829e503a09660ffb11f003d0.tar.gz px4-firmware-a6b85cfbf76dbe0e829e503a09660ffb11f003d0.tar.bz2 px4-firmware-a6b85cfbf76dbe0e829e503a09660ffb11f003d0.zip |
add some comments for clarification
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 12 |
1 files changed, 6 insertions, 6 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 97b659af8..a68de4525 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 @@ -729,8 +729,8 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio } else if (global_triplet.current.nav_cmd == NAV_CMD_LAND) { + /* Horizontal landing control */ /* switch to heading hold for the last meters, continue heading hold after */ - float wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), current_position.getX(), current_position.getY()); //warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO"); if (wp_distance < 15.0f || land_noreturn) { @@ -758,16 +758,16 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* normal navigation */ _l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed); } + _att_sp.roll_body = _l1_control.nav_roll(); + _att_sp.yaw_body = _l1_control.nav_bearing(); + + + /* Vertical landing control */ // /* do not go down too early */ // if (wp_distance > 50.0f) { // altitude_error = (_global_triplet.current.altitude + 25.0f) - _global_pos.alt; // } - - - _att_sp.roll_body = _l1_control.nav_roll(); - _att_sp.yaw_body = _l1_control.nav_bearing(); - /* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */ // XXX this could make a great param |