From 8411ac5c57157adba90136e159a126d895a60018 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 8 Sep 2017 15:59:15 +1000 Subject: [PATCH] Plane: fixed a problem with descent rate in landings for quadplanes use xy controller instead of xyz controller, which prevents calling z controller twice, which led to poor height control --- ArduPlane/quadplane.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 54cad949cb..621f916459 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -1714,7 +1714,7 @@ void QuadPlane::vtol_position_controller(void) pos_control->set_desired_velocity_xy(target_speed_xy.x*100, target_speed_xy.y*100); - pos_control->update_vel_controller_xyz(ekfNavVelGainScaler); + pos_control->update_vel_controller_xy(ekfNavVelGainScaler); const Vector3f& curr_pos = inertial_nav.get_position(); pos_control->set_xy_target(curr_pos.x, curr_pos.y);