From 53caf9ee3e541e85947daba4aa29b021cad3c74a Mon Sep 17 00:00:00 2001
From: Michael Day <michael.day@gtri.gatech.edu>
Date: Tue, 20 Dec 2016 21:56:40 -0500
Subject: [PATCH] Plane: decrease heading tolerance when leaving loiter
waypoint. Improves autoland
This changes the heading tolerance when leaving a loiter waypoint and
tyring to maintain a heading towards the next waypoint from 20 degrees
(+/- 10) to 6 degrees (+/-). This results in a much more reliable
landing approach as the plane is more likely to line up with a runway.
---
ArduPlane/commands_logic.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index dfcdae4ef2..8e5744b358 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -1026,13 +1026,13 @@ bool Plane::verify_loiter_heading(bool init)
/*
Check to see if the the plane is heading toward the land
- waypoint. We use 20 degrees (+/-10 deg) of margin so that
- we can handle 200 degrees/second of yaw. Allow turn count
+ waypoint. We use 6 degrees (+/-3 deg) of margin so that
+ we can handle xxx degrees/second of yaw. Allow turn count
to stop it too to ensure we don't loop around forever in
case high winds are forcing us beyond 200 deg/sec at this
particular moment.
*/
- if (labs(heading_err_cd) <= 1000 ||
+ if (labs(heading_err_cd) <= 300 ||
loiter.sum_cd > loiter.total_cd) {
// Want to head in a straight line from _here_ to the next waypoint instead of center of loiter wp
--
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