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Plane: cope with zero distance to target in QPOS_POSITION1

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This commit is contained in:
Andrew Tridgell 2021-06-10 11:22:51 +10:00
parent 0f9e7001d1
commit ae6220aace
1 changed files with 4 additions and 1 deletions
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5
ArduPlane/quadplane.cpp
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@ -2801,7 +2801,10 @@ void QuadPlane::vtol_position_controller(void)
// run fixed wing navigation // run fixed wing navigation
plane.nav_controller->update_waypoint(plane.current_loc, loc); plane.nav_controller->update_waypoint(plane.current_loc, loc);
Vector2f target_speed_xy = diff_wp.normalized() * target_speed; Vector2f target_speed_xy;
if (distance > 0.1) {
target_speed_xy = diff_wp.normalized() * target_speed;
}
pos_control->set_vel_desired_xy_cms(target_speed_xy * 100); pos_control->set_vel_desired_xy_cms(target_speed_xy * 100);
// reset position controller xy target to current position // reset position controller xy target to current position