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Plane: don't use ground steering until flare in landing 

we need to be able to guide the plane fully in the landing approach
This commit is contained in:
Andrew Tridgell 2014-08-29 11:36:09 +10:00
parent cf98cc29b5
commit b94bc0c243
1 changed files with 4 additions and 0 deletions
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4
ArduPlane/Attitude.pde
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@ -214,6 +214,10 @@ static void stabilize_yaw(float speed_scaler)
// are below the GROUND_STEER_ALT // are below the GROUND_STEER_ALT
steering_control.ground_steering = (channel_roll->control_in == 0 && steering_control.ground_steering = (channel_roll->control_in == 0 &&
fabsf(relative_altitude()) < g.ground_steer_alt); fabsf(relative_altitude()) < g.ground_steer_alt);
if (control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH) {
// don't use ground steering on landing approach
steering_control.ground_steering = false;
}
} }