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Afs/landing slope dive #16158

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merged 2 commits into from
Nov 10, 2020
Merged

Afs/landing slope dive #16158

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c307a04
Merge pull request #1 from PX4/master
AlexanderAurora Nov 10, 2020
b131949
added wrap_pi to getLandingSlope and getFlareCurve
AlexanderAurora Nov 10, 2020
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5 changes: 3 additions & 2 deletions src/lib/landing_slope/Landingslope.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
#include "Landingslope.hpp"

#include <mathlib/mathlib.h>
#include <matrix/math.hpp>

void
Landingslope::update(float landing_slope_angle_rad_new,
Expand Down Expand Up @@ -77,7 +78,7 @@ Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, flo
float bearing_airplane_currwp)
{
/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) {
if (fabsf(matrix::wrap_pi(bearing_airplane_currwp - bearing_lastwp_currwp)) < math::radians(90.0f)) {
return getLandingSlopeRelativeAltitude(wp_landing_distance);

}
Expand All @@ -90,7 +91,7 @@ Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float
float bearing_airplane_currwp)
{
/* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) {
if (fabsf(matrix::wrap_pi(bearing_airplane_currwp - bearing_lastwp_currwp)) < math::radians(90.0f)) {
return _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance) / _flare_constant) - _H1_virt;

}
Expand Down