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Plane: allow QLAND to use precision landing override

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This commit is contained in:
Andrew Tridgell 2024-03-04 08:01:53 +11:00
parent a4109c6cf2
commit 8c33e2d289
1 changed files with 12 additions and 0 deletions
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12
ArduPlane/ArduPlane.cpp
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@ -863,6 +863,18 @@ bool Plane::update_target_location(const Location &old_loc, const Location &new_
next_WP_loc = new_loc; next_WP_loc = new_loc;
next_WP_loc.change_alt_frame(old_loc.get_alt_frame()); next_WP_loc.change_alt_frame(old_loc.get_alt_frame());
#if HAL_QUADPLANE_ENABLED
if (control_mode == &mode_qland) {
/*
support precision landing controlled by lua in QLAND mode
*/
Vector2f rel_origin;
if (new_loc.get_vector_xy_from_origin_NE(rel_origin)) {
quadplane.pos_control->set_pos_target_xy_cm(rel_origin.x, rel_origin.y);
}
}
#endif
return true; return true;
} }