dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge pull request #2868 from PX4/fw_landing_bugfix 

FW landing bug
This commit is contained in:
Roman Bapst 2015-09-16 08:22:58 +02:00
parent 683df0eb46 9fdec6f06a
commit 612e3b49ef
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -1227,9 +1227,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed_2d);
/* limit roll motion to prevent wings from touching the ground first */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
land_noreturn_horizontal = true;
} else {
@ -1241,6 +1238,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
if (land_noreturn_horizontal) {
/* limit roll motion to prevent wings from touching the ground first */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
}
/* Vertical landing control */
//xxx: using the tecs altitude controller for slope control for now