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Copter: Tradheli - fix issue with position moving while on ground

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This commit is contained in:
bnsgeyer 2018-08-27 10:32:11 -07:00 committed by Randy Mackay
parent ffe854063b
commit 45a837d422
1 changed files with 10 additions and 3 deletions
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13
ArduCopter/mode_loiter.cpp
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@ -120,10 +120,17 @@ void Copter::ModeLoiter::run()
motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
#if FRAME_CONFIG == HELI_FRAME
if (!motors->get_interlock() && ap.land_complete) {
loiter_nav->init_target();
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
} else {
// force descent rate and call position controller
pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
if (ap.land_complete_maybe) {
pos_control->relax_alt_hold_controllers(0.0f);
pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
if (ap.land_complete_maybe) {
pos_control->relax_alt_hold_controllers(0.0f);
}
}
#else
loiter_nav->init_target();