Copter: Fix payload place bug

ArduPilot · Aug 8, 2024 · 16aa2ed · 16aa2ed
1 parent f9fde66
commit 16aa2ed
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
@@ -1439,24 +1439,23 @@ void PayloadPlace::run()
         copter.flightmode->land_run_horizontal_control();
         // update altitude target and call position controller
         pos_control->land_at_climb_rate_cm(-descent_speed_cms, true);
-        pos_control->update_z_controller();
-        return;
+        break;
     case State::Release:
     case State::Releasing:
     case State::Delay:
     case State::Ascent_Start:
         copter.flightmode->land_run_horizontal_control();
         // update altitude target and call position controller
         pos_control->land_at_climb_rate_cm(0.0, false);
-        pos_control->update_z_controller();
-        return;
+        break;
     case State::Ascent:
     case State::Done:
         float vel = 0.0;
         copter.flightmode->land_run_horizontal_control();
         pos_control->input_pos_vel_accel_z(descent_start_altitude_cm, vel, 0.0);
         break;
     }
+    pos_control->update_z_controller();
 }
 #endif