Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: bug fix for take-off in loiter

Browse Source
This commit is contained in:
Randy Mackay 2013-07-26 21:26:28 +09:00
parent c3daf78340
commit 05248738e2
2 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/ArduCopter.pde
View File

@ -1752,8 +1752,8 @@ void update_roll_pitch_mode(void)
// if landed simply keep the copter level
if (ap.land_complete) {
nav_roll = 0;
nav_pitch = 0;
nav_roll = ahrs.roll_sensor;
nav_pitch = ahrs.pitch_sensor;
}else{
// update loiter target from user controls
wp_nav.move_loiter_target(control_roll, control_pitch,0.01f);

5
ArduCopter/navigation.pde
View File

@ -162,9 +162,10 @@ static void update_nav_mode()
// reset target if we are still on the ground
if (ap.land_complete) {
wp_nav.init_loiter_target(inertial_nav.get_position(),inertial_nav.get_velocity());
}else{
// call loiter controller
wp_nav.update_loiter();
}
// call loiter controller
wp_nav.update_loiter();
break;
case NAV_WP: