From 537f22cdd165de83c2c0751d95074d30a6a59b01 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 24 Oct 2015 15:00:34 +1100 Subject: [PATCH] Plane: changed thresholds for LAND_APPROACH use 15% path progress when lined up, and 50% path progress if not lined up --- ArduPlane/ArduPlane.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp index 4508d75991..fb33973112 100644 --- a/ArduPlane/ArduPlane.cpp +++ b/ArduPlane/ArduPlane.cpp @@ -856,7 +856,7 @@ void Plane::update_flight_stage(void) float path_progress = location_path_proportion(current_loc, prev_WP_loc, next_WP_loc); bool lined_up = abs(nav_controller->bearing_error_cd()) < 1000; bool below_prev_WP = current_loc.alt < prev_WP_loc.alt; - if ((path_progress > 0.3f && lined_up && below_prev_WP) || path_progress > 0.8f) { + if ((path_progress > 0.15f && lined_up && below_prev_WP) || path_progress > 0.5f) { set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_APPROACH); } }