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Plane: fixed position control in QLAND_FINAL

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This commit is contained in:
Andrew Tridgell 2017-04-23 12:49:48 +10:00
parent 4240d3f739
commit aab20317a0
1 changed files with 5 additions and 4 deletions
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9
ArduPlane/quadplane.cpp
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@ -1639,13 +1639,14 @@ void QuadPlane::vtol_position_controller(void)
// run loiter controller
wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
plane.nav_pitch_cd,
get_pilot_input_yaw_rate_cds() + get_weathervane_yaw_rate_cds(),
smoothing_gain);
// nav roll and pitch are controller by position controller
plane.nav_roll_cd = pos_control->get_roll();
plane.nav_pitch_cd = pos_control->get_pitch();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
plane.nav_pitch_cd,
get_pilot_input_yaw_rate_cds() + get_weathervane_yaw_rate_cds(),
smoothing_gain);
break;
case QPOS_POSITION1: {