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last step of cleanup

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Pawel Spychalski (DzikuVx) 2017-07-03 16:49:43 +02:00
parent 96a5c55c9a
commit c917685718
19 changed files with 60 additions and 60 deletions
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src/main/navigation/navigation.c
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@ -995,7 +995,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
if (navConfig()->general.flags.rth_allow_landing) {
float descentVelLimited = 0;
// A safeguard - if sonar is available and it is reading < 50cm altitude - drop to low descend speed
// A safeguard - if surface altitude sensors is available and it is reading < 50cm altitude - drop to low descend speed
if (posControl.flags.hasValidSurfaceSensor && posControl.actualState.surface < 50.0f) {
// land_descent_rate == 200 : descend speed = 30 cm/s, gentle touchdown
// Do not allow descent velocity slower than -30cm/s so the landing detector works.