mirror of https://github.com/ArduPilot/ardupilot
Arducopter.pde:
Added note about -1 to disable feature Set RTL_Atl by default after reaching home in case we're at the wrong alt. increased speed of Yaw rotation for WPs
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@ -1508,7 +1508,7 @@ void update_yaw_mode(void)
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break;
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case YAW_AUTO:
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nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -20, 20); // 40 deg a second
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nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -60, 60); // 40 deg a second
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//Serial.printf("nav_yaw %d ", nav_yaw);
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nav_yaw = wrap_360(nav_yaw);
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break;
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@ -1961,10 +1961,9 @@ static void update_nav_RTL()
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if(wp_distance <= g.waypoint_radius){
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// if loiter_timer value > 0, we are set to trigger auto_land or approach
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set_mode(LOITER);
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// just un case we arrive and we aren't at the lower RTL alt yet.
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if(current_loc.alt > get_RTL_alt()){
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set_new_altitude(get_RTL_alt());
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}
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set_new_altitude(get_RTL_alt());
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// force loitering above home
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next_WP.lat = home.lat;
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@ -1972,6 +1971,7 @@ static void update_nav_RTL()
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// If land is enabled OR failsafe OR auto approach altitude is set
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// we will go into automatic land, (g.rtl_approach_alt) is the lowest point
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// -1 means disable feature
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if(failsafe || g.rtl_approach_alt >= 0)
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loiter_timer = millis();
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else
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