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Copter: mode_land sends dt to sqrt controller

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Leonard Hall 2018-01-13 12:18:32 +09:00 committed by Randy Mackay
parent 094620bc8a
commit 48d0ad26a6
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/mode_land.cpp
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@ -184,7 +184,7 @@ void Copter::land_run_vertical_control(bool pause_descent)
max_land_descent_velocity = MIN(max_land_descent_velocity, -abs(g.land_speed)); max_land_descent_velocity = MIN(max_land_descent_velocity, -abs(g.land_speed));
// Compute a vertical velocity demand such that the vehicle approaches LAND_START_ALT. Without the below constraint, this would cause the vehicle to hover at LAND_START_ALT. // Compute a vertical velocity demand such that the vehicle approaches LAND_START_ALT. Without the below constraint, this would cause the vehicle to hover at LAND_START_ALT.
cmb_rate = AC_AttitudeControl::sqrt_controller(LAND_START_ALT-alt_above_ground, g.p_alt_hold.kP(), pos_control->get_accel_z()); cmb_rate = AC_AttitudeControl::sqrt_controller(LAND_START_ALT-alt_above_ground, g.p_alt_hold.kP(), pos_control->get_accel_z(), G_Dt);
// Constrain the demanded vertical velocity so that it is between the configured maximum descent speed and the configured minimum descent speed. // Constrain the demanded vertical velocity so that it is between the configured maximum descent speed and the configured minimum descent speed.
cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed)); cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed));