Plane: fix rangefinder correction when terrain follow is off #23658
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sitl test log demonstrating the issue would be great, and autotest |
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@jschall log? |
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@tridge https://drive.google.com/file/d/1LFRRkQjggtAep9h6hM2olxxt2rRAj__V/view?usp=sharing One log of master crashing into the ground without flaring despite seeing the ground with the rangefinder. |
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@tridge pushed my rebase - the commit hash in the logs should now match this PR. |
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@tridge poke |
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https://drive.google.com/drive/folders/1cxfPqSMOMw9UEtxfGyfpIHEwlN3aHjs0?usp=drive_link Corrected google drive link with both logs. |
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@jschall I've reproduced, and the key parameter from your log is LAND_FLARE_SEC=0, so the "flare time before impact" is set to zero. |
tridge
approved these changes
May 21, 2024
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@jschall thanks, I've been over this now in SITL and I'm convinced you are right |
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Previous behavior was either to flare extremely high or crash into the ground, depending on whether the land waypoint is higher or lower than home.
This allows the user to set a land waypoint altitude other than 0 relative without causing a crash.