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Plane: tailsitter: make sure alt target is abover current alt

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Iampete1 2020-11-16 17:37:46 +00:00 committed by Andrew Tridgell
parent f480f4e946
commit 42887891be
1 changed files with 4 additions and 0 deletions
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4
ArduPlane/quadplane.cpp
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@ -952,6 +952,10 @@ void QuadPlane::run_z_controller(void)
} else {
// tailsitters gain lots of vertical speed in transisison, set target to the stopping point
pos_control->set_target_to_stopping_point_z();
// make sure stopping point is above current alt
if (pos_control->get_alt_target() < inertial_nav.get_altitude()) {
set_alt_target_current();
}
}
gcs().send_text(MAV_SEVERITY_INFO, "Reset alt target to %.1f", (double)pos_control->get_alt_target() * 0.01f);
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());