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Copter: bug fix to altitude check of verify takeoff 

set_next_WP function was not setting the alt_change_flag properly
This commit is contained in:
Randy Mackay 2013-01-15 01:19:23 +09:00
parent c74821078b
commit 03733e284c
1 changed files with 6 additions and 14 deletions
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20
ArduCopter/commands.pde
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@ -129,9 +129,6 @@ static int32_t get_RTL_alt()
static void set_next_WP(struct Location *wp)
{
//SendDebug("MSG <set_next_wp> wp_index: ");
//SendDebugln(g.command_index, DEC);
// copy the current WP into the OldWP slot
// ---------------------------------------
if (next_WP.lat == 0 || command_nav_index <= 1) {
@ -143,20 +140,15 @@ static void set_next_WP(struct Location *wp)
prev_WP = current_loc;
}
//cliSerial->printf("set_next_WP #%d, ", command_nav_index);
//print_wp(&prev_WP, command_nav_index -1);
// Load the next_WP slot
// ---------------------
next_WP = *wp;
next_WP.options = wp->options;
next_WP.lat = wp->lat;
next_WP.lng = wp->lng;
// used to control and limit the rate of climb
// -------------------------------------------
// We don't set next WP below 1m
next_WP.alt = max(next_WP.alt, 100);
// Save new altitude so we can track it for climb_rate
set_new_altitude(next_WP.alt);
// Set new target altitude so we can track it for climb_rate
// To-Do: remove the restriction on negative altitude targets (after testing)
set_new_altitude(max(wp->alt,100));
// this is handy for the groundstation
// -----------------------------------