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Plane: use ground steering logic for final stage of auto landing

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this should improve runway tracking
This commit is contained in:
Andrew Tridgell 2014-08-26 19:37:36 +10:00
parent 5f3ac159ba
commit b102c9d19c
1 changed files with 17 additions and 3 deletions
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20
ArduPlane/Attitude.pde
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@ -206,12 +206,26 @@ static void stabilize_stick_mixing_fbw()
*/
static void stabilize_yaw(float speed_scaler)
{
steering_control.ground_steering = (channel_roll->control_in == 0 && fabsf(relative_altitude()) < g.ground_steer_alt);
if (control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
// in land final setup for ground steering
steering_control.ground_steering = true;
} else {
// otherwise use ground steering when no input control and we
// are below the GROUND_STEER_ALT
steering_control.ground_steering = (channel_roll->control_in == 0 &&
fabsf(relative_altitude()) < g.ground_steer_alt);
}
/*
first calculate steering_control.steering for a nose or tail wheel
first calculate steering_control.steering for a nose or tail
wheel.
We use "course hold" mode for the rudder when either in the
final stage of landing (when the wings are help level) or when
in course hold in FBWA mode (when we are below GROUND_STEER_ALT)
*/
if (steer_state.hold_course_cd != -1 && steering_control.ground_steering) {
if ((control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) ||
(steer_state.hold_course_cd != -1 && steering_control.ground_steering)) {
calc_nav_yaw_course();
} else if (steering_control.ground_steering) {
calc_nav_yaw_ground();