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AP_Landing: increase airspeed landing constraint to Max Airspeed

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Ryan Beall 2022-12-10 22:47:27 -05:00 committed by Andrew Tridgell
parent 82dabd1872
commit 738c189d5e
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Landing/AP_Landing_Slope.cpp
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@ -371,8 +371,8 @@ int32_t AP_Landing::type_slope_get_target_airspeed_cm(void)
// when landing, add half of head-wind. // when landing, add half of head-wind.
const int32_t head_wind_compensation_cm = head_wind() * 0.5f * 100; const int32_t head_wind_compensation_cm = head_wind() * 0.5f * 100;
// Do not lower it or exceed cruise speed // Do not lower it or exceed max airspeed `ARSPD_FBW_MAX`
return constrain_int32(target_airspeed_cm + head_wind_compensation_cm, target_airspeed_cm, aparm.airspeed_cruise_cm); return constrain_int32(target_airspeed_cm + head_wind_compensation_cm, target_airspeed_cm, aparm.airspeed_max*100);
} }
int32_t AP_Landing::type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd) int32_t AP_Landing::type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd)