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Copter: minor change to land mode's logic to use rangefinder

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No functional change
This commit is contained in:
Randy Mackay 2016-05-12 15:45:18 +09:00
parent 8171532dc5
commit e6b3638d84
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/control_land.cpp
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@ -234,7 +234,7 @@ void Copter::land_nogps_run()
float Copter::get_land_descent_speed()
{
#if RANGEFINDER_ENABLED == ENABLED
bool rangefinder_ok = rangefinder_state.enabled && (rangefinder.status() == RangeFinder::RangeFinder_Good);
bool rangefinder_ok = rangefinder_state.enabled && rangefinder_state.alt_healthy;
#else
bool rangefinder_ok = false;
#endif
@ -252,7 +252,7 @@ float Copter::get_land_descent_speed()
}
// if we are above 10m and the rangefinder does not sense anything perform regular alt hold descent
if ((target_alt_cm >= LAND_START_ALT) && !(rangefinder_ok && rangefinder_state.alt_healthy)) {
if ((target_alt_cm >= LAND_START_ALT) && !rangefinder_ok) {
if (g.land_speed_high > 0) {
// user has asked for a different landing speed than normal descent rate
return -abs(g.land_speed_high);