mirror of https://github.com/ArduPilot/ardupilot
Copter: Allow fast descend while Prec Landing
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@ -666,7 +666,7 @@ void Mode::land_run_vertical_control(bool pause_descent)
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// doing precland but too far away from the obstacle
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// doing precland but too far away from the obstacle
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// do not descend
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// do not descend
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cmb_rate = 0.0f;
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cmb_rate = 0.0f;
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} else if (target_pos_meas.z > 35.0f && target_pos_meas.z < 200.0f) {
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} else if (target_pos_meas.z > 35.0f && target_pos_meas.z < 200.0f && !copter.precland.do_fast_descend()) {
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// very close to the ground and doing prec land, lets slow down to make sure we land on target
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// very close to the ground and doing prec land, lets slow down to make sure we land on target
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// compute desired descent velocity
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// compute desired descent velocity
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const float precland_acceptable_error_cm = 15.0f;
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const float precland_acceptable_error_cm = 15.0f;
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@ -178,7 +178,7 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
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// @Param: OPTIONS
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// @Param: OPTIONS
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// @DisplayName: Precision Landing Extra Options
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// @DisplayName: Precision Landing Extra Options
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// @Description: Precision Landing Extra Options
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// @Description: Precision Landing Extra Options
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// @Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition, 2: Do not slow vertical speed in final descend phase
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// @Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition, 2: Maintain high speed in final descent
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("OPTIONS", 17, AC_PrecLand, _options, 0),
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AP_GROUPINFO("OPTIONS", 17, AC_PrecLand, _options, 0),
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