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Copter: Set Force Descend to true only when in the last phase of landing

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Leonard Hall 2021-06-21 17:21:39 +09:30 committed by Andrew Tridgell
parent 7c939c5c00
commit 220662a905
1 changed files with 6 additions and 1 deletions
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7
ArduCopter/mode.cpp
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@ -497,7 +497,12 @@ int32_t Mode::get_alt_above_ground_cm(void)
void Mode::land_run_vertical_control(bool pause_descent) void Mode::land_run_vertical_control(bool pause_descent)
{ {
float cmb_rate = 0; float cmb_rate = 0;
bool ignore_descent_limit = false;
if (!pause_descent) { if (!pause_descent) {
// do not ignore limits until we have slowed down for landing
ignore_descent_limit = (MAX(g2.land_alt_low,100) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe;
float max_land_descent_velocity; float max_land_descent_velocity;
if (g.land_speed_high > 0) { if (g.land_speed_high > 0) {
max_land_descent_velocity = -g.land_speed_high; max_land_descent_velocity = -g.land_speed_high;
@ -531,7 +536,7 @@ void Mode::land_run_vertical_control(bool pause_descent)
} }
// update altitude target and call position controller // update altitude target and call position controller
pos_control->set_pos_target_z_from_climb_rate_cm(cmb_rate, true); pos_control->set_pos_target_z_from_climb_rate_cm(cmb_rate, ignore_descent_limit);
pos_control->update_z_controller(); pos_control->update_z_controller();
} }