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Sub: set alt target to surface-5cm when surface is detected

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Willian Galvani 2019-12-17 12:17:47 -03:00 committed by Jacob Walser
parent 2af2a1ed05
commit 642c511ba8
1 changed files with 1 additions and 1 deletions
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2
ArduSub/control_althold.cpp
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@ -119,7 +119,7 @@ void Sub::althold_run()
pos_control.relax_alt_hold_controllers(); pos_control.relax_alt_hold_controllers();
} else { // hold z } else { // hold z
if (ap.at_surface) { if (ap.at_surface) {
pos_control.set_alt_target(inertial_nav.get_altitude() - 1.0f); pos_control.set_alt_target(g.surface_depth - 5.0f); // set target to 5cm below surface level
holding_depth = true; holding_depth = true;
} else if (ap.at_bottom) { } else if (ap.at_bottom) {
pos_control.set_alt_target(inertial_nav.get_altitude() + 10.0f); // set target to 10 cm above bottom pos_control.set_alt_target(inertial_nav.get_altitude() + 10.0f); // set target to 10 cm above bottom