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Copter: bug fix for RTL yaw control

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Nose was only pointing home if your initial altitude was above the
RTL_ALT
This commit is contained in:
Randy Mackay 2013-05-09 21:44:46 +09:00
parent 220e7b019c
commit 1b52ee211a
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/commands_logic.pde
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@ -536,8 +536,8 @@ static bool verify_RTL()
// Set wp navigation target to above home // Set wp navigation target to above home
wp_nav.set_destination(Vector3f(0,0,get_RTL_alt())); wp_nav.set_destination(Vector3f(0,0,get_RTL_alt()));
// set yaw mode // point nose towards home (maybe)
set_yaw_mode(YAW_HOLD); set_yaw_mode(get_wp_yaw_mode(true));
// advance to next rtl state // advance to next rtl state
rtl_state = RTL_STATE_RETURNING_HOME; rtl_state = RTL_STATE_RETURNING_HOME;