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Arducopter: Loiter unlimited fix

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This commit is contained in:
Jason Short 2012-07-12 08:52:36 -07:00
parent 0fe874eec6
commit 1a62d84288
1 changed files with 9 additions and 5 deletions
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14
ArduCopter/commands_logic.pde
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@ -157,7 +157,7 @@ static bool verify_must()
break;
case MAV_CMD_NAV_LOITER_UNLIM:
return false;
return verify_loiter_unlimited();
break;
case MAV_CMD_NAV_LOITER_TURNS:
@ -493,10 +493,14 @@ static bool verify_nav_wp()
}
}
//static bool verify_loiter_unlim()
//{
// return false;
//}
static bool verify_loiter_unlimited()
{
if(wp_control == WP_MODE && wp_distance <= (g.waypoint_radius * 100)){
// switch to position hold
wp_control = LOITER_MODE;
}
return false;
}
static bool verify_loiter_time()
{