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Copter: Fix payload place bug

This commit is contained in:
Leonard Hall 2024-08-08 14:56:39 +09:30 committed by Andrew Tridgell
parent 702c76e885
commit 36f5ea66c0
1 changed files with 3 additions and 4 deletions
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7
ArduCopter/mode_auto.cpp
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@ -1395,8 +1395,7 @@ void PayloadPlace::run()
copter.flightmode->land_run_horizontal_control(); copter.flightmode->land_run_horizontal_control();
// update altitude target and call position controller // update altitude target and call position controller
pos_control->land_at_climb_rate_cm(-descent_speed_cms, true); pos_control->land_at_climb_rate_cm(-descent_speed_cms, true);
pos_control->update_z_controller(); break;
return;
case State::Release: case State::Release:
case State::Releasing: case State::Releasing:
case State::Delay: case State::Delay:
@ -1404,8 +1403,7 @@ void PayloadPlace::run()
copter.flightmode->land_run_horizontal_control(); copter.flightmode->land_run_horizontal_control();
// update altitude target and call position controller // update altitude target and call position controller
pos_control->land_at_climb_rate_cm(0.0, false); pos_control->land_at_climb_rate_cm(0.0, false);
pos_control->update_z_controller(); break;
return;
case State::Ascent: case State::Ascent:
case State::Done: case State::Done:
float vel = 0.0; float vel = 0.0;
@ -1413,6 +1411,7 @@ void PayloadPlace::run()
pos_control->input_pos_vel_accel_z(descent_start_altitude_cm, vel, 0.0); pos_control->input_pos_vel_accel_z(descent_start_altitude_cm, vel, 0.0);
break; break;
} }
pos_control->update_z_controller();
} }
#endif #endif