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Copter: reset ROI when requested, regardless of current MOUNT_MODE

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squilter 2014-10-18 18:19:47 -04:00 committed by Randy Mackay
parent d84c1cd3e4
commit 343a673762
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/control_auto.pde
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@ -518,7 +518,7 @@ static void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, i
static void set_auto_yaw_roi(const Location &roi_location) static void set_auto_yaw_roi(const Location &roi_location)
{ {
// if location is zero lat, lon and altitude turn off ROI // if location is zero lat, lon and altitude turn off ROI
if (auto_yaw_mode == AUTO_YAW_ROI && (roi_location.alt == 0 && roi_location.lat == 0 && roi_location.lng == 0)) { if (roi_location.alt == 0 && roi_location.lat == 0 && roi_location.lng == 0) {
// set auto yaw mode back to default assuming the active command is a waypoint command. A more sophisticated method is required to ensure we return to the proper yaw control for the active command // set auto yaw mode back to default assuming the active command is a waypoint command. A more sophisticated method is required to ensure we return to the proper yaw control for the active command
set_auto_yaw_mode(get_default_auto_yaw_mode(false)); set_auto_yaw_mode(get_default_auto_yaw_mode(false));
#if MOUNT == ENABLED #if MOUNT == ENABLED