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Arducopter: Adjust landing speed 

removed commented out calc_loiter_pitch_roll calls
Changed updateRTL to use 1m be default instead of wp_radius to avoid poor loiter entry speed.
This commit is contained in:
Jason Short 2012-07-19 09:48:31 -07:00
parent dbcfbfe857
commit bc843b0684
1 changed files with 3 additions and 12 deletions
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15
ArduCopter/ArduCopter.pde
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@ -1839,7 +1839,7 @@ void update_throttle_mode(void)
desired_speed = constrain(desired_speed, -250, 250); desired_speed = constrain(desired_speed, -250, 250);
nav_throttle = get_throttle_rate(desired_speed); nav_throttle = get_throttle_rate(desired_speed);
}else{ }else{
desired_speed = get_desired_climb_rate(150); desired_speed = get_desired_climb_rate();
nav_throttle = get_throttle_rate(desired_speed); nav_throttle = get_throttle_rate(desired_speed);
} }
} }
@ -2018,7 +2018,7 @@ static void update_navigation()
static void update_nav_RTL() static void update_nav_RTL()
{ {
// Have we have reached Home? // Have we have reached Home?
if(wp_distance <= (g.waypoint_radius * 100)){ if(wp_distance <= 100 /* || check_missed_wp()*/){
// if loiter_timer value > 0, we are set to trigger auto_land or approach // if loiter_timer value > 0, we are set to trigger auto_land or approach
set_mode(LOITER); set_mode(LOITER);
@ -2029,7 +2029,7 @@ static void update_nav_RTL()
next_WP.lat = home.lat; next_WP.lat = home.lat;
next_WP.lng = home.lng; next_WP.lng = home.lng;
// If land is enabled OR failsafe OR auto approach altitude is set // If failsafe OR auto approach altitude is set
// we will go into automatic land, (g.rtl_approach_alt) is the lowest point // we will go into automatic land, (g.rtl_approach_alt) is the lowest point
// -1 means disable feature // -1 means disable feature
if(failsafe || g.rtl_approach_alt >= 0) if(failsafe || g.rtl_approach_alt >= 0)
@ -2365,9 +2365,6 @@ static void update_nav_wp()
// use error as the desired rate towards the target // use error as the desired rate towards the target
calc_loiter(long_error, lat_error); calc_loiter(long_error, lat_error);
// rotate pitch and roll to the copter frame of reference
//calc_loiter_pitch_roll();
}else if(wp_control == CIRCLE_MODE){ }else if(wp_control == CIRCLE_MODE){
// check if we have missed the WP // check if we have missed the WP
@ -2411,9 +2408,6 @@ static void update_nav_wp()
//CIRCLE: angle:29, dist:0, lat:400, lon:242 //CIRCLE: angle:29, dist:0, lat:400, lon:242
// rotate pitch and roll to the copter frame of reference
//calc_loiter_pitch_roll();
// debug // debug
//int angleTest = degrees(circle_angle); //int angleTest = degrees(circle_angle);
//int nroll = nav_roll; //int nroll = nav_roll;
@ -2441,9 +2435,6 @@ static void update_nav_wp()
nav_lon = constrain(nav_lon, -2000, 2000); // 20° nav_lon = constrain(nav_lon, -2000, 2000); // 20°
nav_lat = constrain(nav_lat, -2000, 2000); // 20° nav_lat = constrain(nav_lat, -2000, 2000); // 20°
// rotate pitch and roll to the copter frame of reference
//calc_loiter_pitch_roll();
} }
} }