Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_TECS: bring in flare sink rate more slowly

Browse Source 
this should reduce pitch overshoot in the flare
This commit is contained in:
Andrew Tridgell 2014-08-30 05:13:18 +10:00
parent 5af4cefff3
commit 6c1eed0a20
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_TECS/AP_TECS.cpp
View File

@ -375,7 +375,8 @@ void AP_TECS::_update_height_demand(void)
if (_flare_counter == 0) { if (_flare_counter == 0) {
_hgt_rate_dem = _climb_rate; _hgt_rate_dem = _climb_rate;
} }
if (_flare_counter < 5) { // bring it in over 1s to prevent overshoot
if (_flare_counter < 10) {
_hgt_rate_dem = _hgt_rate_dem * 0.8f - 0.2f * _land_sink; _hgt_rate_dem = _hgt_rate_dem * 0.8f - 0.2f * _land_sink;
_flare_counter++; _flare_counter++;
} else { } else {