Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: VTOL aproach threshold use path proprtion rarther than radius

This commit is contained in:
Iampete1 2022-07-14 17:01:22 +01:00 committed by Andrew Tridgell
parent 515b79a6ca
commit 7a88dc9348
1 changed files with 6 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduPlane/commands_logic.cpp
View File

@ -1090,11 +1090,13 @@ bool Plane::verify_landing_vtol_approach(const AP_Mission::Mission_Command &cmd)
nav_controller->update_waypoint(start, end);
// check if we should move on to the next waypoint
Location breakout_loc = cmd.content.location;
breakout_loc.offset_bearing(vtol_approach_s.approach_direction_deg + 180, quadplane.stopping_distance());
Location breakout_stopping_loc = cmd.content.location;
breakout_stopping_loc.offset_bearing(vtol_approach_s.approach_direction_deg + 180, quadplane.stopping_distance());
const bool past_finish_line = current_loc.past_interval_finish_line(start, breakout_stopping_loc);
const bool past_finish_line = current_loc.past_interval_finish_line(start, breakout_loc);
const bool half_radius = current_loc.get_distance(cmd.content.location) < 0.5 * abs_radius;
Location breakout_loc = cmd.content.location;
breakout_loc.offset_bearing(vtol_approach_s.approach_direction_deg + 180, abs_radius);
const bool half_radius = current_loc.line_path_proportion(breakout_loc, cmd.content.location) > 0.5;
bool lined_up = true;
Vector3f vel_NED;
if (ahrs.get_velocity_NED(vel_NED)) {