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Copter: descend normally from 35cm

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Jonathan Challinger 2016-08-01 21:05:21 -07:00 committed by Randy Mackay
parent f2ef8eec8c
commit 7cb9ad6e2b
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/control_land.cpp
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@ -196,7 +196,7 @@ void Copter::land_run_vertical_control(bool pause_descent)
// Constrain the demanded vertical velocity so that it is between the configured maximum descent speed and the configured minimum descent speed.
cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed));
if (doing_precision_landing && alt_above_ground < 200.0f) {
if (doing_precision_landing && rangefinder_alt_ok() && rangefinder_state.alt_cm > 35.0f && rangefinder_state.alt_cm < 200.0f) {
float max_descent_speed = abs(g.land_speed)/2.0f;
float land_slowdown = MAX(0.0f, pos_control.get_horizontal_error()*(max_descent_speed/precland_acceptable_error));
cmb_rate = MIN(-precland_min_descent_speed, -max_descent_speed+land_slowdown);