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

Copter: change the default of zigzag wp delay to 0

This commit is contained in:
Tatsuya Yamaguchi 2021-11-04 11:55:53 +09:00 committed by Peter Barker
parent 32e628f267
commit 0ff28df2ba
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/mode_zigzag.cpp
View File

@ -30,9 +30,9 @@ const AP_Param::GroupInfo ModeZigZag::var_info[] = {
// @DisplayName: The delay for zigzag waypoint
// @Description: Waiting time after reached the destination
// @Units: s
// @Range: 1 127
// @Range: 0 127
// @User: Advanced
AP_GROUPINFO("WP_DELAY", 3, ModeZigZag, _wp_delay, 1),
AP_GROUPINFO("WP_DELAY", 3, ModeZigZag, _wp_delay, 0),
// @Param: SIDE_DIST
// @DisplayName: Sideways distance in ZigZag auto
@ -409,7 +409,7 @@ bool ModeZigZag::reached_destination()
if (reach_wp_time_ms == 0) {
reach_wp_time_ms = now;
}
return ((now - reach_wp_time_ms) > (uint16_t)constrain_int16(_wp_delay, 1, 127) * 1000);
return ((now - reach_wp_time_ms) >= (uint16_t)constrain_int16(_wp_delay, 0, 127) * 1000);
}
// calculate next destination according to vector A-B and current position