Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 00:04:02 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: Add Smart RTL or LAND to the fence action

Browse Source
This commit is contained in:
murata 2021-01-31 11:34:21 +09:00 committed by Randy Mackay
parent a97786c01d
commit 17f285b68f
1 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/fence.cpp
View File

@ -64,6 +64,12 @@ void Copter::fence_check()
set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED); set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
} }
break; break;
case AC_FENCE_ACTION_SMART_RTL_OR_LAND:
// Try SmartRTL, if that fails, Land
if (!set_mode(Mode::Number::SMART_RTL, ModeReason::FENCE_BREACHED)) {
set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
}
break;
} }
} }
} }