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Copter: while landing use land-speed from 10m above home

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Previously vehicle was switching to land-speed at 10m above the origin
This commit is contained in:
Randy Mackay 2016-03-09 14:25:47 +09:00
parent ffd86744ce
commit 39dc2d7176
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/control_land.cpp
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@ -239,7 +239,7 @@ float Copter::get_land_descent_speed()
bool sonar_ok = false;
#endif
// if we are above 10m and the sonar does not sense anything perform regular alt hold descent
if (pos_control.get_pos_target().z >= pv_alt_above_origin(LAND_START_ALT) && !(sonar_ok && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
if ((pv_alt_above_home(pos_control.get_pos_target().z) >= LAND_START_ALT) && !(sonar_ok && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
if (g.land_speed_high > 0) {
// user has asked for a different landing speed than normal descent rate
return -abs(g.land_speed_high);