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added failsafe check, 

enable loiter repositioning
This commit is contained in:
Jason Short 2011-12-13 21:15:45 -08:00
parent f4bd3cb5a2
commit 2a7f981fb0
1 changed files with 9 additions and 9 deletions
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18
ArduCopter/ArduCopter.pde
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@ -301,12 +301,10 @@ static const char* flight_mode_strings[] = {
*/
// temp
static int16_t y_actual_speed;
static int16_t y_rate_error;
// calc the
static int16_t x_actual_speed;
static int16_t y_actual_speed;
static int16_t x_rate_error;
static int16_t y_rate_error;
// Radio
// -----
@ -903,10 +901,12 @@ static void slow_loop()
#if AUTO_RESET_LOITER == 1
if(control_mode == LOITER){
//if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 1500){
if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 1000){
// reset LOITER to current position
//next_WP = current_loc;
//}
next_WP = current_loc;
// clear Loiter Iterms
reset_nav();
}
}
#endif
@ -1419,7 +1419,7 @@ adjust_altitude()
//manual_boost = (g.rc_3.control_in == 800) ? 20 : 0;
}*/
if(g.rc_3.control_in <= 180){
if(g.rc_3.control_in <= 180 && !failsafe){
// we remove 0 to 100 PWM from hover
manual_boost = g.rc_3.control_in - 180;
manual_boost = max(-120, manual_boost);
@ -1427,7 +1427,7 @@ adjust_altitude()
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();
}else if (g.rc_3.control_in >= 650){
}else if (g.rc_3.control_in >= 650 && !failsafe){
// we add 0 to 100 PWM to hover
manual_boost = g.rc_3.control_in - 650;
g.throttle_cruise += g.pi_alt_hold.get_integrator();