FlightTaskTransition: keep high decelration when overshooting the tra…

…nsition target
PX4 · Dec 18, 2024 · 54da80c · 54da80c
1 parent 1ef3107
commit 54da80c
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp b/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp
@@ -119,8 +119,12 @@ float FlightTaskTransition::computeBackTranstionPitchSetpoint()
 		if (dist_to_target_in_moving_direction > FLT_EPSILON) {
 			// Backtransition target point is ahead of the vehicle, compute the desired deceleration
 			deceleration_setpoint = velocity_xy.norm_squared() / (2.f * dist_to_target_in_moving_direction);
-			deceleration_setpoint = math::min(deceleration_setpoint, 2.f * _param_vt_b_dec_mss);
+
+		} else {
+			deceleration_setpoint = 2.f * _param_vt_b_dec_mss;
 		}
+
+		deceleration_setpoint = math::min(deceleration_setpoint, 2.f * _param_vt_b_dec_mss);
 	}
 
 	// Pitch up to reach a negative accel_in_flight_direction otherwise we decelerate too slow