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increased landing authority
This commit is contained in:
Jason Short 2012-07-18 22:45:31 -07:00
parent 1595a662c0
commit 16adaf12db
1 changed files with 4 additions and 11 deletions
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15
ArduCopter/commands_logic.pde
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@ -383,15 +383,8 @@ static bool verify_land_sonar()
} }
if(current_loc.alt < 150 ){ if(current_loc.alt < 150 ){
//rapid throttle reduction
//int16_t lb = (1.75 * icount * icount) - (7.2 * icount);
//icount++;
//lb = constrain(lb, 0, 180);
//landing_boost += lb;
//Serial.printf("%0.0f, %d, %d, %d\n", icount, current_loc.alt, landing_boost, lb);
// if we are low or don't seem to be decending much, increment ground detector // if we are low or don't seem to be decending much, increment ground detector
if(current_loc.alt < 40 || abs(climb_rate) < 20) { if(current_loc.alt < 80 || abs(climb_rate) < 20) {
landing_boost++; // reduce the throttle at twice the normal rate landing_boost++; // reduce the throttle at twice the normal rate
if(ground_detector < 30) { if(ground_detector < 30) {
@ -420,12 +413,12 @@ static bool verify_land_baro()
landing_boost = min(landing_boost, 40); landing_boost = min(landing_boost, 40);
} }
if(current_loc.alt < 200 ){ if(current_loc.alt < 100 ){
wp_control = NO_NAV_MODE; wp_control = NO_NAV_MODE;
} }
if(current_loc.alt < 150 ){ if(current_loc.alt < 200 ){
if(abs(climb_rate) < 20) { if(abs(climb_rate) < 40) {
landing_boost++; landing_boost++;
if(ground_detector < 30) { if(ground_detector < 30) {