From 18c5d901889e33167f0967f612fb7e57b3b4a018 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 31 Oct 2013 17:53:03 +0100 Subject: change logic to avoid overshoot over landing spot --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp') 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 000fa5fa3..be6cc0e8c 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 @@ -799,10 +799,9 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* limit roll motion to prevent wings from touching the ground first */ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f)); - } else if (wp_distance < 60.0f && altitude_error > -20.0f) { + } else if (wp_distance < 60.0f || altitude_error > -20.0f) { /* minimize speed to approach speed, stay on glide slope */ - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, landing_slope_alt_desired, calculate_target_airspeed(airspeed_approach), _airspeed.indicated_airspeed_m_s, eas2tas, false, flare_angle_rad, -- cgit v1.2.3