5 Commits

Author	SHA1	Message	Date
Andrew Tridgell	037469db30	AC_WPNav: prevent I term buildup during landing ... this prevents I term buildup in the XY velocity controller during landing. This to account for the EKF giving a non-zero horizontal velocity when we have touched down. The I term buildup in the XY velocity controller can lead to the attitude error going above the level for disabling the relax function as the throttle mix is changed. That results in large motor outputs which can tip over the vehicle after touchdown. Thanks to Leonard for the suggestion	2019-02-25 10:52:25 +11:00
Leonard Hall	de45a3d3e5	AC_Loiter: reduce twitch on init	2018-09-15 10:26:23 +10:00
Randy Mackay	f6cf52a748	AC_Loiter: move defines to cpp	2018-04-04 10:45:10 +09:00
Randy Mackay	757a35f3ba	AC_Loiter: consolidate sanity checks	2018-04-04 10:45:10 +09:00
Randy Mackay	cc5ad7c004	AC_Loiter: loiter extracted from AC_WPNav	2018-04-04 10:45:10 +09:00