From c2f7702094add34038b88fb607c6af689600038f Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Tue, 31 Aug 2021 13:48:15 +0930 Subject: [PATCH] Sub: Separate landing and terrain following. --- ArduSub/control_auto.cpp | 2 +- ArduSub/control_circle.cpp | 2 +- ArduSub/control_guided.cpp | 2 +- ArduSub/control_surface.cpp | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduSub/control_auto.cpp b/ArduSub/control_auto.cpp index 8f100a5432fc9b..dac67bdb914ba2 100644 --- 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 index 9f057d91113222..1b555b48b79a91 100644 --- 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 index 987c9b2383caa1..cc933c8a76fdf3 100644 --- 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 index 6c1cca11095437..cd9e20bc5157df 100644 --- 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