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Plane: fixed a bug in LOITER_TURNS in quadplanes 

if NAV_LOITER_TURNS is used with Q_GUIDED_MODE=1 then we would orbit
forever. This ensures we do exit the loiter
This commit is contained in:
Andrew Tridgell 2020-02-11 14:36:02 +11:00
parent e8ab35a192
commit 0bfab20bd0
1 changed files with 5 additions and 0 deletions
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ArduPlane/quadplane.cpp
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@ -3015,6 +3015,11 @@ bool QuadPlane::guided_mode_enabled(void)
if (plane.control_mode != &plane.mode_guided && plane.control_mode != &plane.mode_auto) {
return false;
}
if (plane.control_mode == &plane.mode_auto &&
plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_LOITER_TURNS) {
// loiter turns is a fixed wing only operation
return false;
}
return guided_mode != 0;
}