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Will add a landing command to last WP if we are on the ground.

This commit is contained in:
Jason Short 2011-12-10 19:29:42 -08:00
parent 648ab5f4ae
commit 29554b7d73
1 changed files with 7 additions and 2 deletions
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5
ArduCopter/control_modes.pde
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@ -134,8 +134,13 @@ static void read_trim_switch()
// max out at 100 since I think we need to stay under the EEPROM limit // max out at 100 since I think we need to stay under the EEPROM limit
CH7_wp_index = constrain(CH7_wp_index, 1, 100); CH7_wp_index = constrain(CH7_wp_index, 1, 100);
if(g.rc_3.control_in > 0){
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT // set our location ID to 16, MAV_CMD_NAV_WAYPOINT
current_loc.id = MAV_CMD_NAV_WAYPOINT; current_loc.id = MAV_CMD_NAV_WAYPOINT;
}else{
// set our location ID to 21, MAV_CMD_NAV_LAND
current_loc.id = MAV_CMD_NAV_LAND;
}
// save command // save command
set_cmd_with_index(current_loc, CH7_wp_index); set_cmd_with_index(current_loc, CH7_wp_index);