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Code Issues Releases Activity

OP-1760 autotakeoff - enable positional control pathplanner landing to fly to final waypoint during landing

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This commit is contained in:
abeck70 2015-04-17 22:58:53 +10:00
parent 88b0c99087
commit eebbfcea64
1 changed files with 2 additions and 1 deletions
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3
flight/modules/PathFollower/vtollandcontroller.cpp
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@ -175,7 +175,8 @@ void VtolLandController::UpdateVelocityDesired()
controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
// Implement optional horizontal position hold.
if (((uint8_t)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_OPTIONS]) == PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH) {
if ((((uint8_t)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_OPTIONS]) == PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH) ||
(flightStatus->ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_TRUE) ) {
// landing flight mode has stored original horizontal position in pathdesired
PositionStateData positionState;
PositionStateGet(&positionState);