From c7a14a5da18fe677e0f9419a50943c4c7120e348 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 19 May 2021 13:38:12 +1000 Subject: [PATCH] Plane: disable cross-track in Q approach modes and QRTL --- ArduPlane/quadplane.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 4670e15c6d..a355322ed1 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -2604,7 +2604,7 @@ void QuadPlane::vtol_position_controller(void) const float aspeed_threshold = MAX(plane.aparm.airspeed_min, assist_speed); // run fixed wing navigation - plane.nav_controller->update_waypoint(plane.prev_WP_loc, loc); + plane.nav_controller->update_waypoint(plane.current_loc, loc); // use TECS for throttle SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.SpdHgt_Controller->get_throttle_demand()); @@ -2705,7 +2705,7 @@ void QuadPlane::vtol_position_controller(void) } // run fixed wing navigation - plane.nav_controller->update_waypoint(plane.prev_WP_loc, loc); + plane.nav_controller->update_waypoint(plane.current_loc, loc); /* calculate target velocity, not dropping it below 2m/s @@ -2793,7 +2793,7 @@ void QuadPlane::vtol_position_controller(void) } // also run fixed wing navigation - plane.nav_controller->update_waypoint(plane.prev_WP_loc, loc); + plane.nav_controller->update_waypoint(plane.current_loc, loc); update_land_positioning(); @@ -3123,7 +3123,7 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd) pos_control->init_z_controller(); // also update nav_controller for status output - plane.nav_controller->update_waypoint(plane.prev_WP_loc, plane.next_WP_loc); + plane.nav_controller->update_waypoint(plane.current_loc, plane.next_WP_loc); // calculate the time required to complete a takeoff // this may be conservative and accept extra time due to clamping @@ -3178,7 +3178,7 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd) plane.crash_state.is_crashed = false; // also update nav_controller for status output - plane.nav_controller->update_waypoint(plane.prev_WP_loc, plane.next_WP_loc); + plane.nav_controller->update_waypoint(plane.current_loc, plane.next_WP_loc); poscontrol_init_approach(); return true;