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Plane: fixed usage of rangefinder in landing with RNGFND_LANDING=0

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this fixes two places where rangefinder can affect landing when
RNGFND_LANDING=0
This commit is contained in:
Andrew Tridgell 2020-11-03 07:59:29 +11:00
parent 1d64307f5a
commit e12310155e
2 changed files with 5 additions and 2 deletions
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4
ArduPlane/altitude.cpp
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@ -676,7 +676,9 @@ void Plane::rangefinder_height_update(void)
if (now - rangefinder_state.last_correction_time_ms > 5000) {
rangefinder_state.correction = correction;
rangefinder_state.initial_correction = correction;
landing.set_initial_slope();
if (g.rangefinder_landing) {
landing.set_initial_slope();
}
rangefinder_state.last_correction_time_ms = now;
} else {
rangefinder_state.correction = 0.8f*rangefinder_state.correction + 0.2f*correction;

3
ArduPlane/commands_logic.cpp
View File

@ -236,7 +236,8 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
// ground
height -= auto_state.terrain_correction;
return landing.verify_land(prev_WP_loc, next_WP_loc, current_loc,
height, auto_state.sink_rate, auto_state.wp_proportion, auto_state.last_flying_ms, arming.is_armed(), is_flying(), rangefinder_state.in_range);
height, auto_state.sink_rate, auto_state.wp_proportion, auto_state.last_flying_ms, arming.is_armed(), is_flying(),
g.rangefinder_landing && rangefinder_state.in_range);
}
case MAV_CMD_NAV_LOITER_UNLIM: