AP_Soaring: Make the trigger VSPEED take account of thermalling sink.

2019-06-22 21:08:44 +01:00 · 2019-06-22 21:08:44 +01:00 · 8072f6b858
parent 650b464831
commit 8072f6b858
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Soaring/AP_Soaring.cpp
+++ b/libraries/AP_Soaring/AP_Soaring.cpp
@ -181,7 +181,7 @@ bool SoaringController::check_thermal_criteria()
 {
    return (soar_active
            && ((AP_HAL::micros64() - _cruise_start_time_us) > ((unsigned)min_cruise_s * 1e6))
-            && _vario.filtered_reading > thermal_vspeed
+            && (_vario.filtered_reading - _vario.get_exp_thermalling_sink()) > thermal_vspeed
            && _vario.alt < alt_max
            && _vario.alt > alt_min);
 }