mirror of https://github.com/ArduPilot/ardupilot
Plane: fixed force descend in VTOL land
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4592085963
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@ -868,11 +868,11 @@ void QuadPlane::control_auto(const Location &loc)
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switch (plane.mission.get_current_nav_cmd().id) {
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case MAV_CMD_NAV_VTOL_LAND:
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if (plane.auto_state.wp_distance > 2) {
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pos_control->set_alt_target_from_climb_rate_ff(0, plane.G_Dt, true);
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pos_control->set_alt_target_from_climb_rate_ff(0, plane.G_Dt, false);
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} else if (plane.current_loc.alt > plane.next_WP_loc.alt+5*100) {
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pos_control->set_alt_target_with_slew(wp_nav->get_loiter_target().z, plane.ins.get_loop_delta_t());
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} else {
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pos_control->set_alt_target_from_climb_rate_ff(-30, plane.G_Dt, false);
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pos_control->set_alt_target_from_climb_rate_ff(-30, plane.G_Dt, true);
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}
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break;
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case MAV_CMD_NAV_VTOL_TAKEOFF:
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