mirror of https://github.com/ArduPilot/ardupilot
Plane: allow for a trans decel margin
so if we are behind the velocity curve we are less likely to overshoot landing
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@ -2103,7 +2103,11 @@ void QuadPlane::run_xy_controller(void)
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if (in_vtol_land_sequence() &&
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(poscontrol.get_state() == QPOS_POSITION1 ||
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poscontrol.get_state() == QPOS_POSITION2)) {
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accel_cmss = MAX(accel_cmss, transition_decel*100);
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// we allow for a bit higher accel limit than the trans decel,
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// so if are less likely to overshoot the landing point
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// if at some stage in the POS1 we are under velocity
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const float accel_margin = 1.25;
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accel_cmss = MAX(accel_cmss, accel_margin*transition_decel*100);
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}
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const float speed_cms = wp_nav->get_default_speed_xy();
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pos_control->set_max_speed_accel_xy(speed_cms, accel_cmss);
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