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Plane: changed thresholds for LAND_APPROACH

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use 15% path progress when lined up, and 50% path progress if not
lined up
This commit is contained in:
Andrew Tridgell 2015-10-24 15:00:34 +11:00
parent f9fbb8a0f7
commit 537f22cdd1
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/ArduPlane.cpp
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@ -856,7 +856,7 @@ void Plane::update_flight_stage(void)
float path_progress = location_path_proportion(current_loc, prev_WP_loc, next_WP_loc); 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 lined_up = abs(nav_controller->bearing_error_cd()) < 1000;
bool below_prev_WP = current_loc.alt < prev_WP_loc.alt; 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); set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_APPROACH);
} }
} }