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Arducopter - reduced rate of decent when landing using sonar

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This commit is contained in:
Randy Mackay 2012-02-08 22:46:32 +09:00
parent aff2755c44
commit e9ef79c42d
1 changed files with 8 additions and 5 deletions
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13
ArduCopter/commands_logic.pde
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@ -363,6 +363,7 @@ static bool verify_land_sonar()
}else{
// begin to pull down on the throttle
landing_boost++;
landing_boost = min(landing_boost, 40);
}
if(current_loc.alt < 200 ){
@ -371,14 +372,16 @@ static bool verify_land_sonar()
if(current_loc.alt < 150 ){
//rapid throttle reduction
int16_t lb = (1.75 * icount * icount) - (7.2 * icount);
icount++;
lb = constrain(lb, 0, 180);
landing_boost += lb;
//int16_t lb = (1.75 * icount * icount) - (7.2 * icount);
//icount++;
//lb = constrain(lb, 0, 180);
//landing_boost += lb;
//Serial.printf("%0.0f, %d, %d, %d\n", icount, current_loc.alt, landing_boost, lb);
// if we are low or don't seem to be decending much, increment ground detector
if(current_loc.alt < 40 || abs(climb_rate) < 20) {
if(ground_detector++ > 20) {
landing_boost++; // reduce the throttle at twice the normal rate
if(ground_detector++ > 30) {
land_complete = true;
ground_detector = 0;
icount = 1;