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Plane: prevent set_target_altitude_proportion() past dest waypoint

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otherwise we could start climbing again on land
This commit is contained in:
Andrew Tridgell 2014-08-14 09:49:52 +10:00
parent c06067c71b
commit da7f871e34
1 changed files with 5 additions and 2 deletions
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7
ArduPlane/altitude.pde
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@ -37,7 +37,9 @@ static void adjust_altitude_target()
Location loc = next_WP_loc;
float flare_distance = gps.ground_speed() * g.land_flare_sec;
loc.alt += g.land_flare_alt*100;
if (flare_distance >= wp_distance || flare_distance >= wp_totalDistance) {
if (flare_distance >= wp_distance ||
flare_distance >= wp_totalDistance ||
location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
set_target_altitude_location(loc);
} else {
set_target_altitude_proportion(next_WP_loc,
@ -49,7 +51,8 @@ static void adjust_altitude_target()
// once we reach a loiter target then lock to the final
// altitude target
set_target_altitude_location(next_WP_loc);
} else if (target_altitude.offset_cm != 0) {
} else if (target_altitude.offset_cm != 0 &&
!location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
// control climb/descent rate
set_target_altitude_proportion(next_WP_loc, (float)(wp_distance-30) / (float)(wp_totalDistance-30));