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Copter: fix references to position error

This commit is contained in:
Leonard Hall 2020-12-13 19:19:44 +10:30 committed by Randy Mackay
parent 7c14f4de0d
commit a29e2d8920
3 changed files with 3 additions and 3 deletions
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2
ArduCopter/mode.cpp
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@ -564,7 +564,7 @@ void Mode::land_run_vertical_control(bool pause_descent)
const float precland_min_descent_speed = 10.0f;
float max_descent_speed = abs(g.land_speed)*0.5f;
float land_slowdown = MAX(0.0f, pos_control->get_horizontal_error()*(max_descent_speed/precland_acceptable_error));
float land_slowdown = MAX(0.0f, pos_control->get_pos_error_xy()*(max_descent_speed/precland_acceptable_error));
cmb_rate = MIN(-precland_min_descent_speed, -max_descent_speed+land_slowdown);
}
#endif

2
ArduCopter/mode_guided.cpp
View File

@ -789,7 +789,7 @@ uint32_t ModeGuided::wp_distance() const
return wp_nav->get_wp_distance_to_destination();
break;
case Guided_PosVel:
return pos_control->get_distance_to_target();
return pos_control->get_pos_error_xy();
break;
default:
return 0;

2
ArduCopter/mode_throw.cpp
View File

@ -288,6 +288,6 @@ bool ModeThrow::throw_height_good()
bool ModeThrow::throw_position_good()
{
// check that our horizontal position error is within 50cm
return (pos_control->get_horizontal_error() < 50.0f);
return (pos_control->get_pos_error_xy() < 50.0f);
}
#endif