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Plane: fixed quadplane landing transition altitude

This commit is contained in:
Andrew Tridgell 2016-06-10 17:36:46 +10:00
parent 07564aa03f
commit 8156b3f7de
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/quadplane.cpp
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@ -1625,8 +1625,8 @@ bool QuadPlane::verify_vtol_land(void)
}
// at land_final_alt begin final landing
if (poscontrol.state == QPOS_LAND_DESCEND &&
plane.current_loc.alt < plane.next_WP_loc.alt+land_final_alt*100) {
float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
if (poscontrol.state == QPOS_LAND_DESCEND && height_above_ground < land_final_alt) {
poscontrol.state = QPOS_LAND_FINAL;
pos_control->set_alt_target(inertial_nav.get_altitude());
plane.gcs_send_text(MAV_SEVERITY_INFO,"Land final started");