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activate wheel controller as soon as plane flares

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tumbili
2015-10-13 22:59:35 +02:00
committed by Roman
parent 7fc97ed147
commit 42d03cb076
1 changed files with 4 additions and 0 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@@ -1291,6 +1291,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* kill the throttle if param requests it */
throttle_max = _parameters.throttle_max;
/* enable direct yaw control using rudder/wheel */
_att_sp.yaw_body = target_bearing;
_att_sp.fw_control_yaw = true;
if (_global_pos.alt < terrain_alt + landingslope.motor_lim_relative_alt() || land_motor_lim) {
throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
if (!land_motor_lim) {