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Plane: fixed loiter radius at end of mission

This commit is contained in:
Andrew Tridgell 2016-04-21 22:29:29 +10:00
parent de33779382
commit 2a1985d0f9
1 changed files with 4 additions and 1 deletions
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5
ArduPlane/commands_logic.cpp
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@ -601,7 +601,10 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
bool Plane::verify_loiter_unlim()
{
if (mission.get_current_nav_cmd().p1 <= 1 && abs(g.rtl_radius) > 1) {
if (control_mode == AUTO && mission.state() != AP_Mission::MISSION_RUNNING) {
// end of mission RTL
update_loiter(g.rtl_radius? g.rtl_radius : g.loiter_radius);
} else if (mission.get_current_nav_cmd().p1 <= 1 && abs(g.rtl_radius) > 1) {
// if mission radius is 0,1, and rtl_radius is valid, use rtl_radius.
loiter.direction = (g.rtl_radius < 0) ? -1 : 1;
update_loiter(abs(g.rtl_radius));