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AP_Scripting: fixed alt frame error in ship landing

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if terrain follow is enabled then this would result in mixing a
terrain alt with an absolute alt, resulting in attempts to descend to
a negative alt
This commit is contained in:
Andrew Tridgell 2023-01-19 09:45:58 +11:00 committed by Randy Mackay
parent 9032a91b1e
commit 93136f84a2
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_Scripting/examples/plane_ship_landing.lua
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@ -312,6 +312,7 @@ function update_target()
have_target = true
target_pos, target_velocity = follow:get_target_location_and_velocity_ofs()
target_pos:change_alt_frame(ALT_FRAME_ABSOLUTE)
target_heading = follow:get_target_heading_deg()
-- zero vertical velocity to reduce impact of ship movement
target_velocity:z(0)
@ -350,6 +351,7 @@ function update_auto_offset()
-- get target without offsets applied
target_no_ofs, vel = follow:get_target_location_and_velocity()
target_no_ofs:change_alt_frame(ALT_FRAME_ABSOLUTE)
-- setup offsets so target location will be current location
local new = target_no_ofs:get_distance_NED(current_pos)
@ -392,6 +394,7 @@ function update()
-- not in a flight mode with a target location
return
end
next_WP:change_alt_frame(ALT_FRAME_ABSOLUTE)
if vehicle_mode == MODE_RTL then
local holdoff_pos = get_holdoff_position()