Sub: Separate landing and terrain following.

Icatme · Sep 6, 2021 · c2f7702 · c2f7702
1 parent 5fea74d
commit c2f7702
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/ArduSub/control_auto.cpp b/ArduSub/control_auto.cpp
@@ -662,7 +662,7 @@ void Sub::auto_terrain_recover_run()
 
     /////////////////////
     // update z target //
-    pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate, true);
+    pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate);
     pos_control.update_z_controller();
 
     ////////////////////////////

diff --git a/ArduSub/control_circle.cpp b/ArduSub/control_circle.cpp
@@ -80,6 +80,6 @@ void Sub::circle_run()
     }
 
     // update altitude target and call position controller
-    pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate, false);
+    pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate);
     pos_control.update_z_controller();
 }
diff --git a/ArduSub/control_guided.cpp b/ArduSub/control_guided.cpp
@@ -498,7 +498,7 @@ void Sub::guided_angle_control_run()
     attitude_control.input_euler_angle_roll_pitch_yaw(roll_in, pitch_in, yaw_in, true);
 
     // call position controller
-    pos_control.set_pos_target_z_from_climb_rate_cm(climb_rate_cms, false);
+    pos_control.set_pos_target_z_from_climb_rate_cm(climb_rate_cms);
     pos_control.update_z_controller();
 }
 

diff --git a/ArduSub/control_surface.cpp b/ArduSub/control_surface.cpp
@@ -55,7 +55,7 @@ void Sub::surface_run()
     desired_climb_rate = cmb_rate;
 
     // update altitude target and call position controller
-    pos_control.set_pos_target_z_from_climb_rate_cm(cmb_rate, true);
+    pos_control.set_pos_target_z_from_climb_rate_cm(cmb_rate);
     pos_control.update_z_controller();
 
     // pilot has control for repositioning