From d95c997606ea0c01d577b26a21f2df48e52a1a6c Mon Sep 17 00:00:00 2001 From: RickReeser Date: Thu, 16 Dec 2021 17:43:22 -0800 Subject: [PATCH] AC_PosControl: fix comment In ArduCopter/mode.cpp, ignore_descent_limit is FALSE unless landing: // do not ignore limits until we have slowed down for landing ignore_descent_limit = (MAX(g2.land_alt_low,100) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe; --- libraries/AC_AttitudeControl/AC_PosControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index 82cc3a5507..b3e18da520 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -860,7 +860,7 @@ void AC_PosControl::set_pos_target_z_from_climb_rate_cm(float vel) /// land_at_climb_rate_cm - adjusts target up or down using a commanded climb rate in cm/s /// using the default position control kinematic path. -/// ignore_descent_limit turns off output saturation handling to aid in landing detection. ignore_descent_limit should be true unless landing. +/// ignore_descent_limit turns off output saturation handling to aid in landing detection. ignore_descent_limit should be false unless landing. void AC_PosControl::land_at_climb_rate_cm(float vel, bool ignore_descent_limit) { input_vel_accel_z(vel, 0, ignore_descent_limit);