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Plane: fixed force descend in VTOL land

This commit is contained in:
Andrew Tridgell 2016-01-01 22:23:26 +11:00
parent 4592085963
commit 780d1459f0
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/quadplane.cpp
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@ -868,11 +868,11 @@ void QuadPlane::control_auto(const Location &loc)
switch (plane.mission.get_current_nav_cmd().id) { switch (plane.mission.get_current_nav_cmd().id) {
case MAV_CMD_NAV_VTOL_LAND: case MAV_CMD_NAV_VTOL_LAND:
if (plane.auto_state.wp_distance > 2) { if (plane.auto_state.wp_distance > 2) {
pos_control->set_alt_target_from_climb_rate_ff(0, plane.G_Dt, true); pos_control->set_alt_target_from_climb_rate_ff(0, plane.G_Dt, false);
} else if (plane.current_loc.alt > plane.next_WP_loc.alt+5*100) { } else if (plane.current_loc.alt > plane.next_WP_loc.alt+5*100) {
pos_control->set_alt_target_with_slew(wp_nav->get_loiter_target().z, plane.ins.get_loop_delta_t()); pos_control->set_alt_target_with_slew(wp_nav->get_loiter_target().z, plane.ins.get_loop_delta_t());
} else { } else {
pos_control->set_alt_target_from_climb_rate_ff(-30, plane.G_Dt, false); pos_control->set_alt_target_from_climb_rate_ff(-30, plane.G_Dt, true);
} }
break; break;
case MAV_CMD_NAV_VTOL_TAKEOFF: case MAV_CMD_NAV_VTOL_TAKEOFF: