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Plane: fixed previous_mode error in geofence

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when we were in MANUAL we would switch back to STABILIZE
This commit is contained in:
Andrew Tridgell 2014-03-29 13:53:19 +11:00
parent 613fda4889
commit 14671d0bcd
1 changed files with 5 additions and 4 deletions
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9
ArduPlane/geofence.pde
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@ -352,12 +352,13 @@ static void geofence_check(bool altitude_check_only)
set_guided_WP();
if (control_mode == MANUAL && g.auto_trim) {
// make sure we don't auto trim the surfaces on this change
control_mode = STABILIZE;
}
// make sure we don't auto trim the surfaces on this mode change
int8_t saved_auto_trim = g.auto_trim;
g.auto_trim.set(0);
set_mode(GUIDED);
g.auto_trim.set(saved_auto_trim);
if (g.fence_action == FENCE_ACTION_GUIDED_THR_PASS) {
guided_throttle_passthru = true;
}