From d34ea4c1247699c406a88bc6f52e63a4ff77922c Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 13 Nov 2014 18:38:55 -0800 Subject: [PATCH] AC_PosControl: fix to default force_descend param --- libraries/AC_AttitudeControl/AC_PosControl.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h index 08bc77440b..0347c51511 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.h +++ b/libraries/AC_AttitudeControl/AC_PosControl.h @@ -109,7 +109,8 @@ public: /// should be called continuously (with dt set to be the expected time between calls) /// actual position target will be moved no faster than the speed_down and speed_up /// target will also be stopped if the motors hit their limits or leash length is exceeded - void set_alt_target_from_climb_rate(float climb_rate_cms, float dt, bool force_descend = true); + /// set force_descend to true during landing to allow target to move low enough to slow the motors + void set_alt_target_from_climb_rate(float climb_rate_cms, float dt, bool force_descend = false); /// set_alt_target_to_current_alt - set altitude target to current altitude void set_alt_target_to_current_alt() { _pos_target.z = _inav.get_altitude(); }