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Plane: simplified logic where landing complete overrides the calc value

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This commit is contained in:
Tom Pittenger 2016-12-12 00:29:33 -08:00
parent 83f0a8114b
commit 4b683edac9
1 changed files with 3 additions and 4 deletions
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5
ArduPlane/ArduPlane.cpp
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@ -555,13 +555,12 @@ void Plane::handle_auto_mode(void)
// during final approach constrain roll to the range
// allowed for level flight
nav_roll_cd = constrain_int32(nav_roll_cd, -g.level_roll_limit*100UL, g.level_roll_limit*100UL);
}
calc_throttle();
if (landing.complete) {
// we are in the final stage of a landing - force
// zero throttle
channel_throttle->set_servo_out(0);
} else {
calc_throttle();
}
} else {
// we are doing normal AUTO flight, the special cases