mirror of https://github.com/ArduPilot/ardupilot
AC_Loiter: use Pos_Control soften_for_landing_xy
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@ -132,14 +132,7 @@ void AC_Loiter::init_target()
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/// reduce response for landing
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/// reduce response for landing
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void AC_Loiter::soften_for_landing()
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void AC_Loiter::soften_for_landing()
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{
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{
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const Vector3f& curr_pos = _inav.get_position_neu_cm();
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_pos_control.soften_for_landing_xy();
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// set target position to current position
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_pos_control.set_pos_target_xy_cm(curr_pos.x, curr_pos.y);
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// also prevent I term build up in xy velocity controller. Note
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// that this flag is reset on each loop, in update_xy_controller()
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_pos_control.set_externally_limited_xy();
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}
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}
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/// set pilot desired acceleration in centi-degrees
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/// set pilot desired acceleration in centi-degrees
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