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Plane: FW approach: allways use correct loiter direction

This commit is contained in:
Iampete1 2022-07-15 00:28:13 +01:00 committed by Andrew Tridgell
parent 7a88dc9348
commit 2e342d7852
1 changed files with 2 additions and 11 deletions
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13
ArduPlane/commands_logic.cpp
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@ -429,15 +429,6 @@ void Plane::do_landing_vtol_approach(const AP_Mission::Mission_Command& cmd)
loc.sanitize(current_loc);
set_next_WP(loc);
// only set the direction if the quadplane landing radius override is not 0
// if it's 0 update_loiter will manage the direction for us when we hand it
// 0 later in the controller
if (is_negative(quadplane.fw_land_approach_radius)) {
loiter.direction = -1;
} else if (is_positive(quadplane.fw_land_approach_radius)) {
loiter.direction = 1;
}
vtol_approach_s.approach_stage = LOITER_TO_ALT;
}
#endif
@ -1026,7 +1017,7 @@ bool Plane::verify_landing_vtol_approach(const AP_Mission::Mission_Command &cmd)
case RTL:
{
// fly home and loiter at RTL alt
update_loiter(fabsf(quadplane.fw_land_approach_radius));
nav_controller->update_loiter(cmd.content.location, abs_radius, direction);
if (plane.reached_loiter_target()) {
// decend to Q RTL alt
plane.do_RTL(plane.home.alt + plane.quadplane.qrtl_alt*100UL);
@ -1037,7 +1028,7 @@ bool Plane::verify_landing_vtol_approach(const AP_Mission::Mission_Command &cmd)
}
case LOITER_TO_ALT:
{
update_loiter(fabsf(quadplane.fw_land_approach_radius));
nav_controller->update_loiter(cmd.content.location, abs_radius, direction);
if (labs(loiter.sum_cd) > 1 && (loiter.reached_target_alt || loiter.unable_to_acheive_target_alt)) {
Vector3f wind = ahrs.wind_estimate();