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

Merge pull request #1336 from PX4/laser_landing 

Rely on laser altitude once valid
This commit is contained in:
Thomas Gubler 2014-08-31 18:08:55 +02:00
parent c17c585c3e 0e954b30c2
commit f123e3ae1a
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -823,7 +823,7 @@ float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt,
* the measurement is valid
* the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt
*/
if (range_finder_use_relative_alt < 0 || !range_finder.valid || rel_alt_estimated > range_finder_use_relative_alt ) {
if (range_finder_use_relative_alt < 0 || !range_finder.valid || range_finder.distance > range_finder_use_relative_alt ) {
return rel_alt_estimated;
}