mirror of https://github.com/ArduPilot/ardupilot
Plane: Don't overwrite the quadplane loiter relax
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51acb72152
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@ -874,7 +874,7 @@ void QuadPlane::init_loiter(void)
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last_loiter_ms = AP_HAL::millis();
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}
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void QuadPlane::init_land(void)
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void QuadPlane::init_qland(void)
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{
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init_loiter();
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throttle_wait = false;
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@ -1653,7 +1653,7 @@ bool QuadPlane::init_mode(void)
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init_loiter();
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break;
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case QLAND:
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init_land();
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init_qland();
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break;
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case QRTL:
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init_qrtl();
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@ -1777,7 +1777,7 @@ void QuadPlane::vtol_position_controller(void)
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case QPOS_POSITION1: {
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Vector2f diff_wp = location_diff(plane.current_loc, loc);
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float distance = diff_wp.length();
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const float distance = diff_wp.length();
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if (poscontrol.speed_scale <= 0) {
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// initialise scaling so we start off targeting our
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@ -1886,7 +1886,11 @@ void QuadPlane::vtol_position_controller(void)
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pos_control->set_desired_accel_xy(0.0f,0.0f);
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// set position control target and update
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pos_control->set_xy_target(poscontrol.target.x, poscontrol.target.y);
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if (should_relax()) {
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loiter_nav->soften_for_landing();
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} else {
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pos_control->set_xy_target(poscontrol.target.x, poscontrol.target.y);
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}
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pos_control->update_xy_controller(ekfNavVelGainScaler);
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// nav roll and pitch are controller by position controller
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@ -2291,10 +2295,6 @@ bool QuadPlane::verify_vtol_land(void)
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plane.set_next_WP(plane.next_WP_loc);
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}
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if (should_relax()) {
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loiter_nav->soften_for_landing();
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}
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// at land_final_alt begin final landing
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if (poscontrol.state == QPOS_LAND_DESCEND && check_land_final()) {
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poscontrol.state = QPOS_LAND_FINAL;
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@ -189,7 +189,7 @@ private:
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void run_rate_controller(void);
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void init_loiter(void);
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void init_land(void);
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void init_qland(void);
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void control_loiter(void);
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void check_land_complete(void);
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bool land_detector(uint32_t timeout_ms);
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