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Plane: prevent a change altitude command from causing a sudden descent 

when a change altitude command comes in while a large glide slope
altitude change is present we could end up using the old glide slope
with the new altitude. This resets the altitude offset, causing a
direct altitude change
This commit is contained in:
Andrew Tridgell 2014-12-03 18:31:23 +11:00
parent ede920f293
commit c05a0bc67f
2 changed files with 4 additions and 0 deletions
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2
ArduPlane/GCS_Mavlink.pde
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@ -945,6 +945,8 @@ void GCS_MAVLINK::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
next_WP_loc.alt += home.alt; next_WP_loc.alt += home.alt;
} }
next_WP_loc.flags.relative_alt = false; next_WP_loc.flags.relative_alt = false;
next_WP_loc.flags.terrain_alt = cmd.content.location.flags.terrain_alt;
reset_offset_altitude();
} }

2
ArduPlane/commands_logic.pde
View File

@ -364,6 +364,7 @@ static void do_loiter_time(const AP_Mission::Mission_Command& cmd)
static void do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd) static void do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd)
{ {
next_WP_loc.alt = cmd.content.location.alt + home.alt; next_WP_loc.alt = cmd.content.location.alt + home.alt;
reset_offset_altitude();
} }
/********************************************************************************/ /********************************************************************************/
@ -563,6 +564,7 @@ static void do_change_alt(const AP_Mission::Mission_Command& cmd)
change_target_altitude(condition_rate/10); change_target_altitude(condition_rate/10);
next_WP_loc.alt = condition_value; // For future nav calculations next_WP_loc.alt = condition_value; // For future nav calculations
reset_offset_altitude(); reset_offset_altitude();
setup_glide_slope();
} }
static void do_within_distance(const AP_Mission::Mission_Command& cmd) static void do_within_distance(const AP_Mission::Mission_Command& cmd)