mirror of https://github.com/ArduPilot/ardupilot
AP_L1_Control: fixed waypoint approach logic
this could cause the RTL approach to not break off onto the circle correctly
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@ -260,7 +260,8 @@ void AP_L1_Control::update_loiter(const struct Location ¢er_WP, float radius
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// Perform switchover between 'capture' and 'circle' modes at the point where the commands cross over to achieve a seamless transfer
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// Perform switchover between 'capture' and 'circle' modes at the point where the commands cross over to achieve a seamless transfer
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// Only fly 'capture' mode if outside the circle
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// Only fly 'capture' mode if outside the circle
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if ((latAccDemCap < latAccDemCirc && loiter_direction > 0 && xtrackErrCirc > 0.0f) | (latAccDemCap > latAccDemCirc && loiter_direction < 0 && xtrackErrCirc > 0.0f)) {
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if ((latAccDemCap < latAccDemCirc && loiter_direction > 0 && xtrackErrCirc > 0.0f) ||
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(latAccDemCap > latAccDemCirc && loiter_direction < 0 && xtrackErrCirc > 0.0f)) {
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_latAccDem = latAccDemCap;
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_latAccDem = latAccDemCap;
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_WPcircle = false;
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_WPcircle = false;
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_bearing_error = Nu; // angle between demanded and achieved velocity vector, +ve to left of track
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_bearing_error = Nu; // angle between demanded and achieved velocity vector, +ve to left of track
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