mirror of https://github.com/ArduPilot/ardupilot
Plane: limit target accel in POSITION1
don't ask for more than 2* transition limit, and reset when we enter overshoot case
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@ -2498,7 +2498,7 @@ void QuadPlane::vtol_position_controller(void)
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Vector2f target_accel_cms;
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bool have_target_yaw = false;
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float target_yaw_deg;
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const float target_accel = accel_needed(distance, sq(closing_groundspeed));
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const float target_accel = MIN(accel_needed(distance, sq(closing_groundspeed)), transition_decel*2);
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if (distance > 0.1) {
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Vector2f diff_wp_norm = diff_wp.normalized();
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target_speed_xy_cms = diff_wp_norm * target_speed * 100;
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@ -2510,6 +2510,7 @@ void QuadPlane::vtol_position_controller(void)
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gcs().send_text(MAV_SEVERITY_INFO,"VTOL Overshoot d=%.1f cs=%.1f yerr=%.1f",
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distance, closing_groundspeed, yaw_err_deg);
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poscontrol.overshoot = true;
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pos_control->set_accel_desired_xy_cmss(Vector2f());
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}
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if (poscontrol.overshoot) {
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/* we have overshot the landing point or our nose is
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