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Plane: must be on land approach before flare alt/sec are used

This commit is contained in:
Tom Pittenger 2016-04-21 16:56:50 -07:00
parent 12663eaa48
commit fefcf39335
1 changed files with 5 additions and 2 deletions
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7
ArduPlane/landing.cpp
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@ -61,12 +61,15 @@ bool Plane::verify_land()
// Below we check for wp_proportion being greater then 50%. In otherwords ensure that the vehicle
// has covered 50% of the distance to the landing point before it can flare
bool on_approach_stage = (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE);
bool below_flare_alt = (height <= g.land_flare_alt);
bool below_flare_sec = (aparm.land_flare_sec > 0 && height <= auto_state.sink_rate * aparm.land_flare_sec);
bool probably_crashed = (fabsf(auto_state.sink_rate) < 0.2f && !is_flying());
if (below_flare_alt ||
(below_flare_sec && (auto_state.wp_proportion > 0.5)) ||
if ((on_approach_stage && below_flare_alt) ||
(on_approach_stage && below_flare_sec && (auto_state.wp_proportion > 0.5)) ||
(!rangefinder_in_range && auto_state.wp_proportion >= 1) ||
probably_crashed) {