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Plane: call adjust_altitude_target after setting waypoint

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if we're too close to the next waypoint then we can end up using stale altitude target data when deciding whether a waypoint is complete or not.
This commit is contained in:
Peter Barker 2022-12-06 17:00:18 +11:00 committed by Andrew Tridgell
parent b6f1891f9f
commit 92a658c298
1 changed files with 8 additions and 0 deletions
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8
ArduPlane/commands.cpp
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@ -59,6 +59,14 @@ void Plane::set_next_WP(const struct Location &loc)
setup_glide_slope(); setup_glide_slope();
setup_turn_angle(); setup_turn_angle();
// update plane.target_altitude straight away, or if we are too
// close to out loiter point we may decide we are at the correct
// altitude before updating it (this is based on scheduler table
// ordering, where we navigate() before we
// adjust_altitude_target(), and navigate() uses values updated in
// adjust_altitude_target()
adjust_altitude_target();
} }
void Plane::set_guided_WP(const Location &loc) void Plane::set_guided_WP(const Location &loc)