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Plane: Quadplane QPOS1 never acclerate away from home #21102

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Plane: Quadplane QPOS1 never acclerate away from home #21102

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5 changes: 3 additions & 2 deletions ArduPlane/quadplane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2459,6 +2459,7 @@ void QuadPlane::vtol_position_controller(void)
const float distance = diff_wp.length();
const Vector2f rel_groundspeed_vector = landing_closing_velocity();
const float rel_groundspeed_sq = rel_groundspeed_vector.length_squared();
const float closing_groundspeed = rel_groundspeed_vector * diff_wp.normalized();

// calculate speed we should be at to reach the position2
// target speed at the position2 distance threshold, assuming
Expand Down Expand Up @@ -2494,11 +2495,11 @@ void QuadPlane::vtol_position_controller(void)

Vector2f target_speed_xy_cms;
Vector2f target_accel_cms;
const float target_accel = accel_needed(distance, rel_groundspeed_sq);
const float target_accel = accel_needed(distance, closing_groundspeed*closing_groundspeed);
if (distance > 0.1) {
Vector2f diff_wp_norm = diff_wp.normalized();
target_speed_xy_cms = diff_wp_norm * target_speed * 100;
target_accel_cms = diff_wp_norm * (-target_accel*100);
target_accel_cms = diff_wp_norm * (target_accel*100) * (is_positive(closing_groundspeed) ? -1.0 : 1.0);
}
const float target_speed_ms = target_speed_xy_cms.length() * 0.01;

Expand Down