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Copter: deploy gear during mission RTL descent

This commit is contained in:
Randy Mackay 2015-05-27 16:09:39 +09:00
parent 8454246fae
commit 17063792cb
1 changed files with 5 additions and 2 deletions
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5
ArduCopter/landing_gear.pde
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@ -11,7 +11,10 @@ static void landinggear_update(){
// if we are doing an automatic landing procedure, force the landing gear to deploy.
// To-Do: should we pause the auto-land procedure to give time for gear to come down?
if (control_mode == LAND || (control_mode==RTL && rtl_state == RTL_Land) || (control_mode == AUTO && auto_mode == Auto_Land)){
if (control_mode == LAND ||
(control_mode==RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent)) ||
(control_mode == AUTO && auto_mode == Auto_Land) ||
(control_mode == AUTO && auto_mode == Auto_RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent))) {
landinggear.force_deploy(true);
}