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AC_Loiter: use Pos_Control soften_for_landing_xy

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Leonard Hall 2021-12-24 00:56:33 +10:30 committed by Randy Mackay
parent d186cef7e0
commit 38d2d51820
1 changed files with 1 additions and 8 deletions
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9
libraries/AC_WPNav/AC_Loiter.cpp
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@ -132,14 +132,7 @@ void AC_Loiter::init_target()
/// reduce response for landing
void AC_Loiter::soften_for_landing()
{
const Vector3f& curr_pos = _inav.get_position_neu_cm();
// set target position to current position
_pos_control.set_pos_target_xy_cm(curr_pos.x, curr_pos.y);
// also prevent I term build up in xy velocity controller. Note
// that this flag is reset on each loop, in update_xy_controller()
_pos_control.set_externally_limited_xy();
_pos_control.soften_for_landing_xy();
}
/// set pilot desired acceleration in centi-degrees