diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 6 |
1 files changed, 5 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 ddfbc233b..a94311ccb 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 @@ -240,6 +240,7 @@ private: float land_heading_hold_horizontal_distance; float land_flare_pitch_min_deg; float land_flare_pitch_max_deg; + int land_use_terrain_estimate; } _parameters; /**< local copies of interesting parameters */ @@ -287,6 +288,7 @@ private: param_t land_heading_hold_horizontal_distance; param_t land_flare_pitch_min_deg; param_t land_flare_pitch_max_deg; + param_t land_use_terrain_estimate; } _parameter_handles; /**< handles for interesting parameters */ @@ -474,6 +476,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST"); _parameter_handles.land_flare_pitch_min_deg = param_find("FW_FLARE_PMIN"); _parameter_handles.land_flare_pitch_max_deg = param_find("FW_FLARE_PMAX"); + _parameter_handles.land_use_terrain_estimate= param_find("FW_LND_USETER"); _parameter_handles.time_const = param_find("FW_T_TIME_CONST"); _parameter_handles.time_const_throt = param_find("FW_T_THRO_CONST"); @@ -576,6 +579,7 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance)); param_get(_parameter_handles.land_flare_pitch_min_deg, &(_parameters.land_flare_pitch_min_deg)); param_get(_parameter_handles.land_flare_pitch_max_deg, &(_parameters.land_flare_pitch_max_deg)); + param_get(_parameter_handles.land_use_terrain_estimate, &(_parameters.land_use_terrain_estimate)); _l1_control.set_l1_damping(_parameters.l1_damping); _l1_control.set_l1_period(_parameters.l1_period); @@ -813,7 +817,7 @@ float FixedwingPositionControl::get_terrain_altitude_landing(float land_setpoint /* Decide if the terrain estimation can be used, once we switched to using the terrain we stick with it * for the whole landing */ - if (global_pos.terrain_alt_valid || land_useterrain) { + if (_parameters.land_use_terrain_estimate && (global_pos.terrain_alt_valid || land_useterrain)) { if(!land_useterrain) { mavlink_log_info(_mavlink_fd, "#audio: Landing, using terrain estimate"); land_useterrain = true; |