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Plane: fixed usage of rangefinder in landing with RNGFND_LANDING=0 #15710

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Nov 2, 2020
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Plane: fixed usage of rangefinder in landing with RNGFND_LANDING=0 #15710

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4 changes: 3 additions & 1 deletion ArduPlane/altitude.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -702,7 +702,9 @@ void Plane::rangefinder_height_update(void)
if (now - rangefinder_state.last_correction_time_ms > 5000) {
rangefinder_state.correction = correction;
rangefinder_state.initial_correction = correction;
landing.set_initial_slope();
if (g.rangefinder_landing) {
landing.set_initial_slope();
}
rangefinder_state.last_correction_time_ms = now;
} else {
rangefinder_state.correction = 0.8f*rangefinder_state.correction + 0.2f*correction;
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3 changes: 2 additions & 1 deletion ArduPlane/commands_logic.cpp
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Expand Up @@ -233,7 +233,8 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
// ground
height -= auto_state.terrain_correction;
return landing.verify_land(prev_WP_loc, next_WP_loc, current_loc,
height, auto_state.sink_rate, auto_state.wp_proportion, auto_state.last_flying_ms, arming.is_armed(), is_flying(), rangefinder_state.in_range);
height, auto_state.sink_rate, auto_state.wp_proportion, auto_state.last_flying_ms, arming.is_armed(), is_flying(),
g.rangefinder_landing && rangefinder_state.in_range);
}

case MAV_CMD_NAV_LOITER_UNLIM:
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