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Copter: gps failsafe disabled until we get first 3d lock

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Randy Mackay 2013-11-12 11:13:05 +09:00
parent f29f7d9777
commit 13fd33c2d8
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/events.pde
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@ -137,8 +137,8 @@ static void failsafe_gps_check()
{ {
uint32_t last_gps_update_ms; uint32_t last_gps_update_ms;
// return immediately if gps failsafe is disabled // return immediately if gps failsafe is disabled or we have never had GPS lock
if( !g.failsafe_gps_enabled ) { if (!g.failsafe_gps_enabled || !ap.home_is_set) {
// if we have just disabled the gps failsafe, ensure the gps failsafe event is cleared // if we have just disabled the gps failsafe, ensure the gps failsafe event is cleared
if (failsafe.gps) { if (failsafe.gps) {
failsafe_gps_off_event(); failsafe_gps_off_event();