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only go into heading hold mode after flaring

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tumbili
2015-10-19 13:56:53 +02:00
committed by Roman
parent 73b1c18698
commit 0bd23dd7c5
1 changed files with 3 additions and 2 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+3 -2
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@@ -1227,8 +1227,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
wp_distance_save = 0.0f;
}
//warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
if (wp_distance < _parameters.land_heading_hold_horizontal_distance || land_noreturn_horizontal) {
// we want the plane to keep tracking the desired flight path until we start flaring
// if we go into heading hold mode earlier then we risk to be pushed away from the runway by cross winds
if (land_noreturn_vertical) {
/* heading hold, along the line connecting this and the last waypoint */