Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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;
This commit is contained in:
RickReeser 2021-12-16 17:43:22 -08:00 committed by Randy Mackay
parent 3606022cd7
commit d95c997606
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -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);