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Plane: Make target altitude track current altitude when gliding.

This commit is contained in:
Samuel Tabor 2019-07-15 12:23:46 +01:00 committed by Andrew Tridgell
parent 2260fda4ec
commit ed7e359f4d
1 changed files with 4 additions and 0 deletions
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4
ArduPlane/altitude.cpp
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@ -40,6 +40,10 @@ void Plane::adjust_altitude_target()
landing.adjust_landing_slope_for_rangefinder_bump(rangefinder_state, prev_WP_loc, next_WP_loc, current_loc, auto_state.wp_distance, target_altitude.offset_cm);
} else if (landing.get_target_altitude_location(target_location)) {
set_target_altitude_location(target_location);
} else if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
// Reset target alt to current alt, to prevent large altitude errors when gliding.
set_target_altitude_location(current_loc);
reset_offset_altitude();
} else if (reached_loiter_target()) {
// once we reach a loiter target then lock to the final
// altitude target