From 03733e284c866f9283ca80b6a691f3e510c47982 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 15 Jan 2013 01:19:23 +0900 Subject: [PATCH] Copter: bug fix to altitude check of verify takeoff set_next_WP function was not setting the alt_change_flag properly --- ArduCopter/commands.pde | 20 ++++++-------------- 1 file changed, 6 insertions(+), 14 deletions(-) diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde index 41d7f5c3a4..185e52fff3 100644 --- a/ArduCopter/commands.pde +++ b/ArduCopter/commands.pde @@ -129,9 +129,6 @@ static int32_t get_RTL_alt() static void set_next_WP(struct Location *wp) { - //SendDebug("MSG 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 // -----------------------------------