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Plane: do landing flare if past landing point 

this helps prevent us keeping the throttle on after we've landed if
the baro has drifted enough that we think we are not yet at the flare altitude
This commit is contained in:
Andrew Tridgell 2014-08-26 21:15:43 +10:00
parent b102c9d19c
commit d0b6676547
1 changed files with 5 additions and 2 deletions
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7
ArduPlane/landing.pde
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@ -30,13 +30,16 @@ static bool verify_land()
// low pass the sink rate to take some of the noise out
auto_state.land_sink_rate = 0.8f * auto_state.land_sink_rate + 0.2f*sink_rate;
/* Set land_complete (which starts the flare) under 2 conditions:
/* Set land_complete (which starts the flare) under 3 conditions:
1) we are within LAND_FLARE_ALT meters of the landing altitude
2) we are within LAND_FLARE_SEC of the landing point vertically
by the calculated sink rate
3) we have gone past the landing point (to prevent us keeping
throttle on after landing if we've had positive baro drift)
*/
if (height <= g.land_flare_alt ||
height <= -auto_state.land_sink_rate * g.land_flare_sec) {
height <= -auto_state.land_sink_rate * g.land_flare_sec ||
location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
if (!auto_state.land_complete) {
gcs_send_text_fmt(PSTR("Flare %.1fm sink=%.2f speed=%.1f"),