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Made landing slower

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This commit is contained in:
Jason Short 2011-12-10 19:33:19 -08:00
parent 2b06a54fc5
commit 9c3475f168
1 changed files with 3 additions and 2 deletions
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ArduCopter/commands_logic.pde
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@ -351,8 +351,8 @@ static bool verify_takeoff()
static bool verify_land() static bool verify_land()
{ {
// land at 1 meter per second // land at .62 meter per second
next_WP.alt = original_alt - ((millis() - land_start) / 20); // condition_value = our initial next_WP.alt = original_alt - ((millis() - land_start) / 16); // condition_value = our initial
velocity_land = ((old_alt - current_loc.alt) *.2) + (velocity_land * .8); velocity_land = ((old_alt - current_loc.alt) *.2) + (velocity_land * .8);
old_alt = current_loc.alt; old_alt = current_loc.alt;
@ -372,6 +372,7 @@ static bool verify_land()
if(velocity_land <= 0){ if(velocity_land <= 0){
land_complete = true; land_complete = true;
// commented out to prevent tragedy
//return true; //return true;
} }
//Serial.printf("N, %d\n", velocity_land); //Serial.printf("N, %d\n", velocity_land);