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Plane: bug fix to Loiter after mission completes

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This commit is contained in:
Randy Mackay 2014-03-13 22:57:32 +09:00
parent acdaf561c8
commit 27969175d9
1 changed files with 9 additions and 1 deletions
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10
ArduPlane/commands_process.pde
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@ -1,12 +1,20 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// forward declaration of verify_command to keep compiler happy
static bool verify_command(const AP_Mission::Mission_Command& cmd);
// called by update navigation at 10Hz // called by update navigation at 10Hz
// -------------------- // --------------------
static void update_commands(void) static void update_commands(void)
{ {
if(control_mode == AUTO) { if(control_mode == AUTO) {
if(home_is_set == true && mission.num_commands() > 1) { if(home_is_set == true && mission.num_commands() > 1) {
mission.update(); if(mission.state() == AP_Mission::MISSION_RUNNING) {
mission.update();
}else if(mission.state() == AP_Mission::MISSION_COMPLETE) {
// next_nav_command should have been set to MAV_CMD_NAV_LOITER_UNLIM by exit_mission
verify_command(next_nav_command);
}
} }
} }
} }