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Copter: Add option to resume precland after reposiiton

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rishabsingh3003 2023-01-29 15:39:28 +05:30 committed by Andrew Tridgell
parent cca3b2f04e
commit 28d050a36b
1 changed files with 7 additions and 0 deletions
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7
ArduCopter/mode.cpp
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@ -667,6 +667,13 @@ void Mode::land_run_horizontal_control()
AP::logger().Write_Event(LogEvent::LAND_REPO_ACTIVE);
}
copter.ap.land_repo_active = true;
#if PRECISION_LANDING == ENABLED
} else {
// no override right now, check if we should allow precland
if (copter.precland.allow_precland_after_reposition()) {
copter.ap.land_repo_active = false;
}
#endif
}
}