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Slowed Auto Descent

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Don't return true in Landing code to prevent flyways in Stabilize
This commit is contained in:
Jason Short 2012-01-08 23:01:22 -08:00
parent 658760889f
commit 78255b722e
2 changed files with 4 additions and 3 deletions
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5
ArduCopter/commands_logic.pde
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@ -348,7 +348,7 @@ static bool verify_land()
static int16_t velocity_land = -1;
// land at .62 meter per second
next_WP.alt = original_alt - ((millis() - land_start) / 16); // condition_value = our initial
next_WP.alt = original_alt - ((millis() - land_start) / 32); // condition_value = our initial
if (old_alt == 0)
old_alt = current_loc.alt;
@ -384,8 +384,7 @@ static bool verify_land()
// reset old_alt
old_alt = 0;
//init_disarm_motors();
return true;
return false;
}
//Serial.printf("N, %d\n", velocity_land);
//Serial.printf("N_alt, %ld\n", next_WP.alt);

2
ArduCopter/commands_process.pde
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@ -63,6 +63,8 @@ static void update_commands()
// if we are on the ground, enter stabilize, else Land
if (land_complete == true){
set_mode(STABILIZE);
// disarm motors
//init_disarm_motors();
} else {
set_mode(LAND);
}