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Plane: prevent oscillation in GUIDED mode hover

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This commit is contained in:
Andrew Tridgell 2021-05-14 20:18:38 +10:00
parent 5a880c74b6
commit 52b4c257ec
1 changed files with 3 additions and 2 deletions
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5
ArduPlane/quadplane.cpp
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@ -2642,7 +2642,8 @@ void QuadPlane::vtol_position_controller(void)
if (!plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME,target_altitude_cm)) {
break;
}
if (poscontrol.slow_descent) {
if (poscontrol.slow_descent &&
plane.prev_WP_loc.get_distance(plane.next_WP_loc) > 50) {
// gradually descend as we approach target
plane.auto_state.wp_proportion = plane.current_loc.line_path_proportion(plane.prev_WP_loc, plane.next_WP_loc);
int32_t prev_alt;
@ -3358,7 +3359,7 @@ void QuadPlane::guided_start(void)
poscontrol.slow_descent = from_alt > to_alt;
return;
}
// defualt back to old method
// default back to old method
poscontrol.slow_descent = (plane.current_loc.alt > plane.next_WP_loc.alt);
}