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Sub: Update land mode to move up instead of down.

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This commit is contained in:
jaxxzer 2016-01-23 00:57:40 -05:00 committed by Andrew Tridgell
parent e805dd5e30
commit b08e1e6919
2 changed files with 4 additions and 4 deletions
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6
ArduSub/control_land.cpp
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@ -215,10 +215,10 @@ float Sub::get_land_descent_speed()
bool sonar_ok = false;
#endif
// if we are above 10m and the sonar does not sense anything perform regular alt hold descent
if (pos_control.get_pos_target().z >= pv_alt_above_origin(LAND_START_ALT) && !(sonar_ok && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
return pos_control.get_speed_down();
if (pos_control.get_pos_target().z <= pv_alt_above_origin(LAND_START_ALT) && !(sonar_ok && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
return pos_control.get_speed_up();
}else{
return -abs(g.land_speed);
return abs(g.land_speed);
}
}

2
ArduSub/land_detector.cpp
View File

@ -24,7 +24,7 @@ void Sub::update_land_and_crash_detectors()
// called at MAIN_LOOP_RATE
void Sub::update_land_detector()
{
if(barometer.get_altitude() > SURFACE_END_DEPTH && ap.throttle_zero) {
if(barometer.num_instances() > 1 && barometer.get_altitude() > SURFACE_END_DEPTH && ap.throttle_zero) {
set_land_complete(true);
} else {
set_land_complete(false);