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Plane: QuadPlane: Clear pilot corrections on mode change to avoid getting stuck in QLand

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Iampete1 2024-11-09 15:29:57 +00:00 committed by Andrew Tridgell
parent 498ce4db1c
commit b745cf72a4
2 changed files with 5 additions and 1 deletions
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1
ArduPlane/mode_qland.cpp
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@ -9,7 +9,6 @@ bool ModeQLand::_enter()
quadplane.throttle_wait = false;
quadplane.setup_target_position();
poscontrol.set_state(QuadPlane::QPOS_LAND_DESCEND);
poscontrol.pilot_correction_done = false;
quadplane.last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing);
quadplane.landing_detect.lower_limit_start_ms = 0;
quadplane.landing_detect.land_start_ms = 0;

5
ArduPlane/quadplane.cpp
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@ -4596,6 +4596,11 @@ void QuadPlane::mode_enter(void)
poscontrol.last_velocity_match_ms = 0;
poscontrol.set_state(QuadPlane::QPOS_NONE);
// Clear any pilot corrections
poscontrol.pilot_correction_done = false;
poscontrol.pilot_correction_active = false;
poscontrol.target_vel_cms.zero();
// clear guided takeoff wait on any mode change, but remember the
// state for special behaviour
guided_wait_takeoff_on_mode_enter = guided_wait_takeoff;