Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 09:43:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

Landing: Fix bad deepstall parameter group

Browse Source
This commit is contained in:
Michael du Breuil 2017-07-14 23:47:41 -07:00 committed by Tom Pittenger
parent 8de96ee4a1
commit 202b40562f
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Landing/AP_Landing_Deepstall.cpp
View File

@ -126,7 +126,7 @@ const AP_Param::GroupInfo AP_Landing_Deepstall::var_info[] = {
// @Group: DS_ // @Group: DS_
// @Path: ../PID/PID.cpp // @Path: ../PID/PID.cpp
AP_SUBGROUPINFO(ds_PID, "", 13, AP_Landing_Deepstall, PID), AP_SUBGROUPINFO(ds_PID, "", 14, AP_Landing_Deepstall, PID),
AP_GROUPEND AP_GROUPEND
}; };
@ -504,13 +504,13 @@ float AP_Landing_Deepstall::update_steering()
Location current_loc; Location current_loc;
if (!landing.ahrs.get_position(current_loc)) { if (!landing.ahrs.get_position(current_loc)) {
// panic if no position source is available // panic if no position source is available
// continue the but target just holding the wings held level as deepstall should be a minimal energy // continue the stall but target just holding the wings held level as deepstall should be a minimal
// configuration on the aircraft, and if a position isn't available aborting would be worse // energy configuration on the aircraft, and if a position isn't available aborting would be worse
gcs().send_text(MAV_SEVERITY_CRITICAL, "Deepstall: No position available. Attempting to hold level"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Deepstall: No position available. Attempting to hold level");
memcpy(&current_loc, &landing_point, sizeof(Location)); memcpy(&current_loc, &landing_point, sizeof(Location));
} }
uint32_t time = AP_HAL::millis(); uint32_t time = AP_HAL::millis();
float dt = constrain_float(time - last_time, (uint32_t)10UL, (uint32_t)200UL) / 1000.0; float dt = constrain_float(time - last_time, (uint32_t)10UL, (uint32_t)200UL) * 1e-3;
last_time = time; last_time = time;