Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: avoid hard stop in missions

This commit is contained in:
apinxiko 2018-03-19 16:20:37 +00:00 committed by Randy Mackay
parent 8b5f5a5fa0
commit 032ad9a67b
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduCopter/commands_logic.cpp
View File

@ -349,7 +349,7 @@ void Copter::ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd)
target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
}
}
// this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0;
// this is the delay, stored in seconds
@ -358,8 +358,9 @@ void Copter::ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd)
// Set wp navigation target
wp_start(target_loc);
// if no delay set the waypoint as "fast"
if (loiter_time_max == 0 ) {
// if no delay as well as not final waypoint set the waypoint as "fast"
AP_Mission::Mission_Command temp_cmd;
if (loiter_time_max == 0 && copter.mission.get_next_nav_cmd(cmd.index+1, temp_cmd)) {
copter.wp_nav->set_fast_waypoint(true);
}
}