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ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes.

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This commit is contained in:
Jason Short 2012-03-10 12:42:22 -08:00
parent 83729d0f75
commit 204f9957b0
1 changed files with 9 additions and 4 deletions
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13
ArduCopter/navigation.pde
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@ -347,16 +347,21 @@ static void clear_new_altitude()
alt_change_flag = REACHED_ALT;
}
static void force_new_altitude(int32_t _new_alt)
{
next_WP.alt = _new_alt;
target_altitude = _new_alt;
alt_change_flag = REACHED_ALT;
}
static void set_new_altitude(int32_t _new_alt)
{
if(_new_alt == current_loc.alt){
next_WP.alt = _new_alt;
target_altitude = _new_alt;
alt_change_flag = REACHED_ALT;
force_new_altitude(_new_alt);
return;
}
// just to be clear
// We start at the current location altitude and gradually change alt
next_WP.alt = current_loc.alt;
// for calculating the delta time