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AC_WPNav: add loiter_soften_for_landing method 

This resets the position target to the current location.
This commit is contained in:
Randy Mackay 2014-09-19 15:39:08 +09:00
parent b552479e31
commit 765420ee04
2 changed files with 13 additions and 0 deletions
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10
libraries/AC_WPNav/AC_WPNav.cpp
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@ -176,6 +176,16 @@ void AC_WPNav::init_loiter_target()
_pilot_accel_rgt_cms = 0; _pilot_accel_rgt_cms = 0;
} }
/// loiter_soften_for_landing - reduce response for landing
void AC_WPNav::loiter_soften_for_landing()
{
const Vector3f& curr_pos = _inav.get_position();
// set target position to current position
_pos_control.set_xy_target(curr_pos.x, curr_pos.y);
_pos_control.freeze_ff_xy();
}
/// set_loiter_velocity - allows main code to pass the maximum velocity for loiter /// set_loiter_velocity - allows main code to pass the maximum velocity for loiter
void AC_WPNav::set_loiter_velocity(float velocity_cms) void AC_WPNav::set_loiter_velocity(float velocity_cms)
{ {

3
libraries/AC_WPNav/AC_WPNav.h
View File

@ -69,6 +69,9 @@ public:
/// init_loiter_target - initialize's loiter position and feed-forward velocity from current pos and velocity /// init_loiter_target - initialize's loiter position and feed-forward velocity from current pos and velocity
void init_loiter_target(); void init_loiter_target();
/// loiter_soften_for_landing - reduce response for landing
void loiter_soften_for_landing();
/// set_loiter_velocity - allows main code to pass the maximum velocity for loiter /// set_loiter_velocity - allows main code to pass the maximum velocity for loiter
void set_loiter_velocity(float velocity_cms); void set_loiter_velocity(float velocity_cms);