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Plane: Don't overwrite the quadplane loiter relax

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This commit is contained in:
Michael du Breuil 2019-02-21 23:04:35 -07:00 committed by Andrew Tridgell
parent 141429bc8e
commit b290148ed0
2 changed files with 9 additions and 9 deletions
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16
ArduPlane/quadplane.cpp
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@ -895,7 +895,7 @@ void QuadPlane::init_loiter(void)
last_loiter_ms = AP_HAL::millis();
}
void QuadPlane::init_land(void)
void QuadPlane::init_qland(void)
{
init_loiter();
throttle_wait = false;
@ -1750,7 +1750,7 @@ bool QuadPlane::init_mode(void)
init_loiter();
break;
case QLAND:
init_land();
init_qland();
break;
case QRTL:
init_qrtl();
@ -1877,7 +1877,7 @@ void QuadPlane::vtol_position_controller(void)
case QPOS_POSITION1: {
Vector2f diff_wp = location_diff(plane.current_loc, loc);
float distance = diff_wp.length();
const float distance = diff_wp.length();
if (poscontrol.speed_scale <= 0) {
// initialise scaling so we start off targeting our
@ -1986,7 +1986,11 @@ void QuadPlane::vtol_position_controller(void)
pos_control->set_desired_accel_xy(0.0f,0.0f);
// set position control target and update
pos_control->set_xy_target(poscontrol.target.x, poscontrol.target.y);
if (should_relax()) {
loiter_nav->soften_for_landing();
} else {
pos_control->set_xy_target(poscontrol.target.x, poscontrol.target.y);
}
pos_control->update_xy_controller();
// nav roll and pitch are controller by position controller
@ -2369,10 +2373,6 @@ bool QuadPlane::verify_vtol_land(void)
plane.set_next_WP(plane.next_WP_loc);
}
if (should_relax()) {
loiter_nav->soften_for_landing();
}
// at land_final_alt begin final landing
float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
if (poscontrol.state == QPOS_LAND_DESCEND && height_above_ground < land_final_alt) {

2
ArduPlane/quadplane.h
View File

@ -200,7 +200,7 @@ private:
void control_hover(void);
void init_loiter(void);
void init_land(void);
void init_qland(void);
void control_loiter(void);
void check_land_complete(void);