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Copter: use force_descend option on auto landings

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Jonathan Challinger 2014-11-13 16:57:25 -08:00 committed by Randy Mackay
parent 77bbd2532b
commit f3e9e9cc6f
3 changed files with 4 additions and 4 deletions
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2
ArduCopter/control_auto.pde
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@ -315,7 +315,7 @@ static void auto_land_run()
wp_nav.update_loiter();
// call z-axis position controller
pos_control.set_alt_target_from_climb_rate(get_throttle_land(), G_Dt);
pos_control.set_alt_target_from_climb_rate(get_throttle_land(), G_Dt, true);
pos_control.update_z_controller();
// roll & pitch from waypoint controller, yaw rate from pilot

4
ArduCopter/control_land.pde
View File

@ -112,7 +112,7 @@ static void land_gps_run()
}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt);
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true);
pos_control.update_z_controller();
}
@ -170,7 +170,7 @@ static void land_nogps_run()
}
// call position controller
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt);
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true);
pos_control.update_z_controller();
}

2
ArduCopter/control_rtl.pde
View File

@ -377,7 +377,7 @@ static void rtl_land_run()
// call z-axis position controller
float cmb_rate = get_throttle_land();
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt);
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true);
pos_control.update_z_controller();
// roll & pitch from waypoint controller, yaw rate from pilot