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Plane: disable cross-track in Q approach modes and QRTL

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This commit is contained in:
Andrew Tridgell 2021-05-19 13:38:12 +10:00
parent 46722500b0
commit c7a14a5da1
1 changed files with 5 additions and 5 deletions
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10
ArduPlane/quadplane.cpp
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@ -2604,7 +2604,7 @@ void QuadPlane::vtol_position_controller(void)
const float aspeed_threshold = MAX(plane.aparm.airspeed_min, assist_speed); const float aspeed_threshold = MAX(plane.aparm.airspeed_min, assist_speed);
// run fixed wing navigation // 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 // use TECS for throttle
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.SpdHgt_Controller->get_throttle_demand()); 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 // 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 calculate target velocity, not dropping it below 2m/s
@ -2793,7 +2793,7 @@ void QuadPlane::vtol_position_controller(void)
} }
// also run fixed wing navigation // 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(); update_land_positioning();
@ -3123,7 +3123,7 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
pos_control->init_z_controller(); pos_control->init_z_controller();
// also update nav_controller for status output // 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 // calculate the time required to complete a takeoff
// this may be conservative and accept extra time due to clamping // 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; plane.crash_state.is_crashed = false;
// also update nav_controller for status output // 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(); poscontrol_init_approach();
return true; return true;