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Code Issues Wiki Activity

Lock roll in zero position during final approach

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2017-05-29 11:29:59 +02:00
parent 65f685ccff
commit ae2aff0b3d
1 changed files with 2 additions and 0 deletions
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2
src/main/navigation/navigation_fixedwing.c
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@ -445,10 +445,12 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
/*
* Then altitude is below landing slowdown min. altitude, set throttle to min_throttle
* And lock ROLL axis in ZERO position
* TODO refactor conditions in this metod if logic is proven to be correct
*/
if (posControl.flags.hasValidAltitudeSensor && posControl.actualState.pos.V.Z < navConfig()->general.land_slowdown_minalt) {
rcCommand[THROTTLE] = navConfig()->fw.min_throttle;
rcCommand[ROLL] = 0;
}
}