Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Landing: use past_interval_finish_line and line_path_proportion from Location

Browse Source
This commit is contained in:
Pierre Kancir 2019-04-12 10:23:03 +02:00 committed by Andrew Tridgell
parent 4f31c3dcd5
commit 8168b3c8e4
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Landing/AP_Landing_Deepstall.cpp
View File

@ -281,8 +281,8 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
memcpy(&entry_point, &landing_point, sizeof(Location)); memcpy(&entry_point, &landing_point, sizeof(Location));
entry_point.offset_bearing(target_heading_deg + 180.0, travel_distance); entry_point.offset_bearing(target_heading_deg + 180.0, travel_distance);
if (!location_passed_point(current_loc, arc_exit, entry_point)) { if (!current_loc.past_interval_finish_line(arc_exit, entry_point)) {
if (location_passed_point(current_loc, arc_exit, extended_approach)) { if (current_loc.past_interval_finish_line(arc_exit, extended_approach)) {
// this should never happen, but prevent against an indefinite fly away // this should never happen, but prevent against an indefinite fly away
stage = DEEPSTALL_STAGE_FLY_TO_LANDING; stage = DEEPSTALL_STAGE_FLY_TO_LANDING;
} }

2
libraries/AP_Landing/AP_Landing_Slope.cpp
View File

@ -303,7 +303,7 @@ void AP_Landing::type_slope_setup_landing_glide_slope(const Location &prev_WP_lo
target_altitude_offset_cm = loc.alt - prev_WP_loc.alt; target_altitude_offset_cm = loc.alt - prev_WP_loc.alt;
// calculate the proportion we are to the target // calculate the proportion we are to the target
float land_proportion = location_path_proportion(current_loc, prev_WP_loc, loc); float land_proportion = current_loc.line_path_proportion(prev_WP_loc, loc);
// now setup the glide slope for landing // now setup the glide slope for landing
set_target_altitude_proportion_fn(loc, 1.0f - land_proportion); set_target_altitude_proportion_fn(loc, 1.0f - land_proportion);