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Code Issues Releases Activity

OP-1156 placed Werners positionhold speed offset back in place

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This commit is contained in:
Corvus Corax 2014-08-19 23:14:46 +02:00
parent 638698763e
commit 779eb8d772
1 changed files with 5 additions and 2 deletions
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7
flight/libraries/plans.c
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@ -127,12 +127,15 @@ void plan_setup_returnToBase()
static PiOSDeltatimeConfig landdT;
void plan_setup_land()
{
float descendspeed;
plan_setup_positionHold();
FlightModeSettingsLandingVelocityGet(&descendspeed);
PathDesiredData pathDesired;
PathDesiredGet(&pathDesired);
pathDesired.StartingVelocity = 0.0f;
pathDesired.EndingVelocity = 0.0f;
pathDesired.StartingVelocity = descendspeed;
pathDesired.EndingVelocity = descendspeed;
PathDesiredSet(&pathDesired);
PIOS_DELTATIME_Init(&landdT, UPDATE_EXPECTED, UPDATE_MIN, UPDATE_MAX, UPDATE_ALPHA);
}