Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-30 20:48:33 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: precision landing uses sonar alt if available

Browse Source
This commit is contained in:
Daniel Nugent 2015-09-11 18:15:02 +09:00 committed by Randy Mackay
parent 58b7bf1588
commit 9fe3abf5ca
1 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduCopter/precision_landing.cpp
View File

@ -15,10 +15,16 @@ void Copter::init_precland()
void Copter::update_precland() void Copter::update_precland()
{ {
copter.precland.update(current_loc.alt); float final_alt = current_loc.alt;
// use range finder altitude if it is valid
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
final_alt = sonar_alt;
}
copter.precland.update(final_alt);
// log output // log output
Log_Write_Precland(); Log_Write_Precland();
} }
#endif #endif