Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Landing: increase airspeed landing constraint to Max Airspeed

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Landing/AP_Landing_Slope.cpp
View File

@ -371,8 +371,8 @@ int32_t AP_Landing::type_slope_get_target_airspeed_cm(void)
// when landing, add half of head-wind.
const int32_t head_wind_compensation_cm = head_wind() * 0.5f * 100;
// Do not lower it or exceed cruise speed
return constrain_int32(target_airspeed_cm + head_wind_compensation_cm, target_airspeed_cm, aparm.airspeed_cruise_cm);
// 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_max*100);
}
int32_t AP_Landing::type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd)