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Plane: On vtol landings if from a mission perform crosstracking

This commit is contained in:
Michael du Breuil 2023-07-17 15:25:53 -07:00 committed by Andrew Tridgell
parent f70c1e96c7
commit a8102d6662
1 changed files with 3 additions and 2 deletions
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ArduPlane/quadplane.cpp
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@ -2407,7 +2407,7 @@ void QuadPlane::vtol_position_controller(void)
const float aspeed_threshold = MAX(plane.aparm.airspeed_min-2, assist_speed);
// run fixed wing navigation
plane.nav_controller->update_waypoint(plane.current_loc, loc);
plane.nav_controller->update_waypoint(plane.auto_state.crosstrack ? plane.prev_WP_loc : plane.current_loc, loc);
// use TECS for throttle
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.TECS_controller.get_throttle_demand());
@ -3240,7 +3240,8 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
plane.crash_state.is_crashed = false;
// also update nav_controller for status output
plane.nav_controller->update_waypoint(plane.current_loc, plane.next_WP_loc);
plane.nav_controller->update_waypoint(plane.auto_state.crosstrack ? plane.prev_WP_loc : plane.current_loc,
plane.next_WP_loc);
poscontrol_init_approach();
return true;