From aab20317a0f1275b192d10577f3e717df5c667b6 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 23 Apr 2017 12:49:48 +1000 Subject: [PATCH] Plane: fixed position control in QLAND_FINAL --- ArduPlane/quadplane.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 32548453b8..f074776a07 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -1639,13 +1639,14 @@ void QuadPlane::vtol_position_controller(void) // run loiter controller wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); - attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd, - plane.nav_pitch_cd, - get_pilot_input_yaw_rate_cds() + get_weathervane_yaw_rate_cds(), - smoothing_gain); // nav roll and pitch are controller by position controller plane.nav_roll_cd = pos_control->get_roll(); plane.nav_pitch_cd = pos_control->get_pitch(); + + attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd, + plane.nav_pitch_cd, + get_pilot_input_yaw_rate_cds() + get_weathervane_yaw_rate_cds(), + smoothing_gain); break; case QPOS_POSITION1: {