Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: fixed a problem with descent rate in landings for quadplanes 

use xy controller instead of xyz controller, which prevents calling z
controller twice, which led to poor height control
This commit is contained in:
Andrew Tridgell 2017-09-08 15:59:15 +10:00
parent eafbdee118
commit 5ab3265ee6
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/quadplane.cpp
View File

@ -1714,7 +1714,7 @@ void QuadPlane::vtol_position_controller(void)
pos_control->set_desired_velocity_xy(target_speed_xy.x*100, pos_control->set_desired_velocity_xy(target_speed_xy.x*100,
target_speed_xy.y*100); target_speed_xy.y*100);
pos_control->update_vel_controller_xyz(ekfNavVelGainScaler); pos_control->update_vel_controller_xy(ekfNavVelGainScaler);
const Vector3f& curr_pos = inertial_nav.get_position(); const Vector3f& curr_pos = inertial_nav.get_position();
pos_control->set_xy_target(curr_pos.x, curr_pos.y); pos_control->set_xy_target(curr_pos.x, curr_pos.y);