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Added Landing throttle control to force down the copter

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This commit is contained in:
Jason Short 2012-01-12 22:27:51 -08:00
parent b493cb1e55
commit 6d0f078fdd
1 changed files with 7 additions and 3 deletions
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10
ArduCopter/commands_logic.pde
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@ -359,16 +359,20 @@ static bool verify_land()
// remenber altitude for climb_rate
old_alt = current_loc.alt;
if ((current_loc.alt - home.alt) < 250){
if ((current_loc.alt - home.alt) < 200){
// don't bank to hold position
wp_control = NO_NAV_MODE;
// try and come down faster
// by setting next_WP really low.
set_new_altitude(-1000);
landing_boost++;
landing_boost = min(landing_boost, 20);
}else{
landing_boost = 0;
wp_control = LOITER_MODE;
}
if((current_loc.alt - home.alt) < 100 && velocity_land <= 50){
land_complete = true;
landing_boost = 0;
// reset old_alt
old_alt = 0;