Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-16 21:05:32 +03:00
Code Issues Wiki Activity

fix landing

Browse source
This commit is contained in:
breadoven 2022-08-25 22:12:38 +01:00
parent a38bce9b1a
commit 8ceec5b304
4 changed files with 14 additions and 10 deletions
Download patch file Download diff file Expand all files Collapse all files

8
src/main/navigation/navigation_fixedwing.c
View file

@ -635,9 +635,11 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
* Then altitude is below landing slowdown min. altitude, enable final approach procedure
* TODO refactor conditions in this metod if logic is proven to be correct
*/
if (navStateFlags & NAV_CTL_LAND) {
if ( ((posControl.flags.estAltStatus >= EST_USABLE) && (navGetCurrentActualPositionAndVelocity()->pos.z <= navConfig()->general.land_slowdown_minalt)) ||
((posControl.flags.estAglStatus == EST_TRUSTED) && (posControl.actualState.agl.pos.z <= navConfig()->general.land_slowdown_minalt)) ) {
if (navStateFlags & NAV_CTL_LAND || STATE(LANDING_DETECTED)) {
int32_t finalAltitude = navConfig()->general.land_slowdown_minalt + posControl.rthState.homeTmpWaypoint.z;
if ((posControl.flags.estAltStatus >= EST_USABLE && navGetCurrentActualPositionAndVelocity()->pos.z <= finalAltitude) ||
(posControl.flags.estAglStatus == EST_TRUSTED && posControl.actualState.agl.pos.z <= finalAltitude)) {
// Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
rcCommand[THROTTLE] = getThrottleIdleValue();