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Copter: use 3d vector from plnd to slow down

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chobitsfan 2022-09-13 21:10:46 +08:00 committed by Randy Mackay
parent 17d9018a91
commit 434841d402
1 changed files with 3 additions and 1 deletions
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4
ArduCopter/mode.cpp
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@ -609,11 +609,13 @@ void Mode::land_run_vertical_control(bool pause_descent)
}
// check if we should descend or not
const float max_horiz_pos_error_cm = copter.precland.get_max_xy_error_before_descending_cm();
Vector3f target_pos_meas;
copter.precland.get_target_position_measurement_cm(target_pos_meas);
if (target_error_cm > max_horiz_pos_error_cm && !is_zero(max_horiz_pos_error_cm)) {
// doing precland but too far away from the obstacle
// do not descend
cmb_rate = 0.0f;
} else if (copter.rangefinder_alt_ok() && copter.rangefinder_state.alt_cm > 35.0f && copter.rangefinder_state.alt_cm < 200.0f) {
} else if (target_pos_meas.z > 35.0f && target_pos_meas.z < 200.0f) {
// very close to the ground and doing prec land, lets slow down to make sure we land on target
// compute desired descent velocity
const float precland_acceptable_error_cm = 15.0f;