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Plane: updates for offset handling 

Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
Leonard Hall 2024-09-17 13:49:36 +09:00 committed by Randy Mackay
parent 7c35f967d9
commit ae01a8f26d
2 changed files with 3 additions and 3 deletions
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2
ArduPlane/mode_qloiter.cpp
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@ -48,7 +48,7 @@ void ModeQLoiter::run()
// we have an active landing target override // we have an active landing target override
Vector2f rel_origin; Vector2f rel_origin;
if (plane.next_WP_loc.get_vector_xy_from_origin_NE(rel_origin)) { if (plane.next_WP_loc.get_vector_xy_from_origin_NE(rel_origin)) {
quadplane.pos_control->set_pos_target_xy_cm(rel_origin.x, rel_origin.y); quadplane.pos_control->set_pos_desired_xy_cm(rel_origin);
last_target_loc_set_ms = 0; last_target_loc_set_ms = 0;
} }
} }

4
ArduPlane/quadplane.cpp
View File

@ -3609,7 +3609,7 @@ void QuadPlane::Log_Write_QControl_Tuning()
float des_alt_m = 0.0f; float des_alt_m = 0.0f;
int16_t target_climb_rate_cms = 0; int16_t target_climb_rate_cms = 0;
if (plane.control_mode != &plane.mode_qstabilize) { if (plane.control_mode != &plane.mode_qstabilize) {
des_alt_m = pos_control->get_pos_target_z_cm() * 0.01f; des_alt_m = pos_control->get_pos_desired_z_cm() * 0.01f;
target_climb_rate_cms = pos_control->get_vel_target_z_cms(); target_climb_rate_cms = pos_control->get_vel_target_z_cms();
} }
@ -3902,7 +3902,7 @@ bool QuadPlane::guided_mode_enabled(void)
*/ */
void QuadPlane::set_alt_target_current(void) void QuadPlane::set_alt_target_current(void)
{ {
pos_control->set_pos_target_z_cm(inertial_nav.get_position_z_up_cm()); pos_control->set_pos_desired_z_cm(inertial_nav.get_position_z_up_cm());
} }
// user initiated takeoff for guided mode // user initiated takeoff for guided mode