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Plane: smooth the transition to LAND_FINAL in quadplanes

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this makes for a much smoother change to LAND_FINAL, without a jerk as
it changes vertical speed
This commit is contained in:
Andrew Tridgell 2017-09-08 16:43:32 +10:00
parent 5ab3265ee6
commit 2e5c36361e
1 changed files with 1 additions and 2 deletions
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3
ArduPlane/quadplane.cpp
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@ -920,7 +920,7 @@ float QuadPlane::landing_descent_rate_cms(float height_above_ground)
{
float ret = linear_interpolate(land_speed_cms, wp_nav->get_speed_down(),
height_above_ground,
land_final_alt, land_final_alt+3);
land_final_alt, land_final_alt+6);
return ret;
}
@ -2123,7 +2123,6 @@ bool QuadPlane::verify_vtol_land(void)
float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
if (poscontrol.state == QPOS_LAND_DESCEND && height_above_ground < land_final_alt) {
poscontrol.state = QPOS_LAND_FINAL;
set_alt_target_current();
// cut IC engine if enabled
if (land_icengine_cut != 0) {