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Plane: add VTOL POS1 notification to QRTL mode

This commit is contained in:
Hwurzburg 2021-10-02 05:19:23 -05:00 committed by Andrew Tridgell
parent 33529c98a9
commit 4e731bf4e2
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/quadplane.cpp
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@ -2079,11 +2079,12 @@ void QuadPlane::run_xy_controller(void)
*/
void QuadPlane::poscontrol_init_approach(void)
{
const float dist = plane.current_loc.get_distance(plane.next_WP_loc);
if ((options & OPTION_DISABLE_APPROACH) != 0) {
// go straight to QPOS_POSITION1
poscontrol.set_state(QPOS_POSITION1);
gcs().send_text(MAV_SEVERITY_INFO,"VTOL Position1 d=%.1f", dist);
} else if (poscontrol.get_state() != QPOS_APPROACH) {
const float dist = plane.current_loc.get_distance(plane.next_WP_loc);
gcs().send_text(MAV_SEVERITY_INFO,"VTOL approach d=%.1f", dist);
poscontrol.set_state(QPOS_APPROACH);
poscontrol.thrust_loss_start_ms = 0;