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Update navigation.c

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breadoven 2024-02-17 12:31:56 +00:00
parent fe89694616
commit e394974e0a
1 changed files with 1 additions and 3 deletions
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src/main/navigation/navigation.c
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@ -1751,13 +1751,11 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
float descentVelLimited = 0;
int32_t landingElevation = posControl.rthState.homeTmpWaypoint.z;
fpVector3_t tmpHomePos = posControl.rthState.homeTmpWaypoint;
uint32_t remainingDistance = calculateDistanceToDestination(&tmpHomePos);
// A safeguard - if surface altitude sensor is available and is reading < 50cm altitude - drop to min descend speed.
// Also slow down to min descent speed during RTH MR landing if MR drifted too far away from home position.
bool minDescentSpeedRequired = (posControl.flags.estAglStatus == EST_TRUSTED && posControl.actualState.agl.pos.z < 50.0f) ||
(FLIGHT_MODE(NAV_RTH_MODE) && STATE(MULTIROTOR) && remainingDistance > MR_RTH_LAND_MARGIN_CM);
(FLIGHT_MODE(NAV_RTH_MODE) && STATE(MULTIROTOR) && posControl.homeDistance > MR_RTH_LAND_MARGIN_CM);
// Do not allow descent velocity slower than -30cm/s so the landing detector works (limited by land_minalt_vspd).
if (minDescentSpeedRequired) {