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fw pos control: landing: continue horizontally instead of climbing if just below slope

This commit is contained in:
Thomas Gubler 2014-05-27 08:37:59 +02:00
parent bb0cae56a0
commit 10e2a66969
1 changed files with 4 additions and 3 deletions
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7
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -1031,14 +1031,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* intersect glide slope: /* intersect glide slope:
* minimize speed to approach speed * minimize speed to approach speed
* if current position is higher or within 10m of slope follow the glide slope * if current position is higher than the slope follow the glide slope (sink to the
* glide slope)
* also if the system captures the slope it should stay * also if the system captures the slope it should stay
* on the slope (bool land_onslope) * on the slope (bool land_onslope)
* if current position is below slope -10m continue at previous wp altitude * if current position is below the slope continue at previous wp altitude
* until the intersection with slope * until the intersection with slope
* */ * */
float altitude_desired_rel = relative_alt; float altitude_desired_rel = relative_alt;
if (relative_alt > landing_slope_alt_rel_desired - 10.0f || land_onslope) { if (relative_alt > landing_slope_alt_rel_desired || land_onslope) {
/* stay on slope */ /* stay on slope */
altitude_desired_rel = landing_slope_alt_rel_desired; altitude_desired_rel = landing_slope_alt_rel_desired;
if (!land_onslope) { if (!land_onslope) {