Plane: don't start descent till under 3m/s

4 years ago · 9d52333afc
1 changed files with 2 additions and 1 deletions
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@ -3077,7 +3077,8 @@ bool QuadPlane::verify_vtol_land(void)
				@@ -3077,7 +3077,8 @@ bool QuadPlane::verify_vtol_land(void)
        return true;
    }
    if (poscontrol.state == QPOS_POSITION2 &&
-        plane.auto_state.wp_distance < 2) {
+        plane.auto_state.wp_distance < 2 &&
+        plane.ahrs.groundspeed() < 3) {
        poscontrol.state = QPOS_LAND_DESCEND;
 #if AC_FENCE == ENABLED
        plane.fence.auto_disable_fence_for_landing();