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Arducopter: enabled RTL_altitude, renamed function to be more accurate

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This commit is contained in:
Jason Short 2012-06-30 15:34:55 -07:00
parent 2e8eee9306
commit 2450c25544
2 changed files with 6 additions and 9 deletions
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12
ArduCopter/commands.pde
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@ -105,15 +105,13 @@ static void set_cmd_with_index(struct Location temp, int i)
g.command_total.set_and_save(i+1); g.command_total.set_and_save(i+1);
} }
static int32_t read_alt_to_hold() static int32_t get_RTL_alt()
{ {
return current_loc.alt; if(g.RTL_altitude <= 0){
/*
if(g.RTL_altitude <= 0)
return current_loc.alt; return current_loc.alt;
else }else{
return g.RTL_altitude;// + home.alt; return g.RTL_altitude;
*/ }
} }

3
ArduCopter/commands_logic.pde
View File

@ -198,7 +198,7 @@ static void do_RTL(void)
{ {
// TODO: Altitude option from mission planner // TODO: Altitude option from mission planner
Location temp = home; Location temp = home;
temp.alt = read_alt_to_hold(); temp.alt = get_RTL_alt();
//so we know where we are navigating from //so we know where we are navigating from
// -------------------------------------- // --------------------------------------
@ -561,7 +561,6 @@ static bool verify_loiter_turns()
static bool verify_RTL() static bool verify_RTL()
{ {
// loiter at the WP
wp_control = WP_MODE; wp_control = WP_MODE;
// Did we pass the WP? // Distance checking // Did we pass the WP? // Distance checking