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Plane: quadplane: pass takeoff and landing state to weathervane

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This commit is contained in:
Peter Hall 2022-01-23 22:25:16 +00:00 committed by Andrew Tridgell
parent a56eac0274
commit 6a719664d3
1 changed files with 5 additions and 2 deletions
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7
ArduPlane/quadplane.cpp
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@ -3272,12 +3272,15 @@ float QuadPlane::get_weathervane_yaw_rate_cds(void)
return 0.0;
}
const bool is_takeoff = in_vtol_auto() && is_vtol_takeoff(plane.mission.get_current_nav_cmd().id);
float wv_output;
if (weathervane->get_yaw_out(wv_output,
plane.channel_rudder->get_control_in(),
plane.relative_ground_altitude(plane.g.rangefinder_landing),
wp_nav->get_roll(),
wp_nav->get_pitch())) {
wp_nav->get_pitch(),
is_takeoff,
in_vtol_land_sequence())) {
return constrain_float(wv_output / 45, -100.0, 100.0) * yaw_rate_max * 0.5;
}
@ -3562,7 +3565,7 @@ bool QuadPlane::in_vtol_land_approach(void) const
*/
bool QuadPlane::in_vtol_land_descent(void) const
{
if (in_vtol_auto() && is_vtol_land(plane.mission.get_current_nav_cmd().id) &&
if (((in_vtol_auto() && is_vtol_land(plane.mission.get_current_nav_cmd().id)) || (plane.control_mode == &plane.mode_qrtl)) &&
(poscontrol.get_state() == QPOS_LAND_DESCEND || poscontrol.get_state() == QPOS_LAND_FINAL)) {
return true;
}