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Sub: Separate landing and terrain following.

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Leonard Hall 2021-08-31 13:48:15 +09:30 committed by Randy Mackay
parent 251b1fb9ea
commit d936fbeba6
4 changed files with 4 additions and 4 deletions
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2
ArduSub/control_auto.cpp
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@ -662,7 +662,7 @@ void Sub::auto_terrain_recover_run()
///////////////////// /////////////////////
// update z target // // update z target //
pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate, true); pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate);
pos_control.update_z_controller(); pos_control.update_z_controller();
//////////////////////////// ////////////////////////////

2
ArduSub/control_circle.cpp
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@ -80,6 +80,6 @@ void Sub::circle_run()
} }
// update altitude target and call position controller // update altitude target and call position controller
pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate, false); pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate);
pos_control.update_z_controller(); pos_control.update_z_controller();
} }

2
ArduSub/control_guided.cpp
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@ -498,7 +498,7 @@ void Sub::guided_angle_control_run()
attitude_control.input_euler_angle_roll_pitch_yaw(roll_in, pitch_in, yaw_in, true); attitude_control.input_euler_angle_roll_pitch_yaw(roll_in, pitch_in, yaw_in, true);
// call position controller // call position controller
pos_control.set_pos_target_z_from_climb_rate_cm(climb_rate_cms, false); pos_control.set_pos_target_z_from_climb_rate_cm(climb_rate_cms);
pos_control.update_z_controller(); pos_control.update_z_controller();
} }

2
ArduSub/control_surface.cpp
View File

@ -55,7 +55,7 @@ void Sub::surface_run()
desired_climb_rate = cmb_rate; desired_climb_rate = cmb_rate;
// update altitude target and call position controller // update altitude target and call position controller
pos_control.set_pos_target_z_from_climb_rate_cm(cmb_rate, true); pos_control.set_pos_target_z_from_climb_rate_cm(cmb_rate);
pos_control.update_z_controller(); pos_control.update_z_controller();
// pilot has control for repositioning // pilot has control for repositioning