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

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

This commit is contained in:
Samuel Tabor 2019-06-22 21:08:44 +01:00 committed by Andrew Tridgell
parent 650b464831
commit 8072f6b858
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Soaring/AP_Soaring.cpp
View File

@ -181,7 +181,7 @@ bool SoaringController::check_thermal_criteria()
{ {
return (soar_active return (soar_active
&& ((AP_HAL::micros64() - _cruise_start_time_us) > ((unsigned)min_cruise_s * 1e6)) && ((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_max
&& _vario.alt > alt_min); && _vario.alt > alt_min);
} }