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Plane: VTOL aproach threshold use path proprtion rarther than radius

apm_2208
Iampete1 3 years ago committed by Andrew Tridgell
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515b79a6ca
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7a88dc9348
1 changed files with 6 additions and 4 deletions
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  1. 10
      ArduPlane/commands_logic.cpp

10
ArduPlane/commands_logic.cpp
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@ -1090,11 +1090,13 @@ bool Plane::verify_landing_vtol_approach(const AP_Mission::Mission_Command &cmd)
nav_controller->update_waypoint(start, end); nav_controller->update_waypoint(start, end);
// check if we should move on to the next waypoint // check if we should move on to the next waypoint
Location breakout_loc = cmd.content.location; Location breakout_stopping_loc = cmd.content.location;
breakout_loc.offset_bearing(vtol_approach_s.approach_direction_deg + 180, quadplane.stopping_distance()); breakout_stopping_loc.offset_bearing(vtol_approach_s.approach_direction_deg + 180, quadplane.stopping_distance());
const bool past_finish_line = current_loc.past_interval_finish_line(start, breakout_stopping_loc);
const bool past_finish_line = current_loc.past_interval_finish_line(start, breakout_loc); Location breakout_loc = cmd.content.location;
const bool half_radius = current_loc.get_distance(cmd.content.location) < 0.5 * abs_radius; breakout_loc.offset_bearing(vtol_approach_s.approach_direction_deg + 180, abs_radius);
const bool half_radius = current_loc.line_path_proportion(breakout_loc, cmd.content.location) > 0.5;
bool lined_up = true; bool lined_up = true;
Vector3f vel_NED; Vector3f vel_NED;
if (ahrs.get_velocity_NED(vel_NED)) { if (ahrs.get_velocity_NED(vel_NED)) {

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