Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: Add option to resume precland after reposiiton

Browse Source
This commit is contained in:
rishabsingh3003 2023-01-29 15:39:28 +05:30 committed by Randy Mackay
parent 4fd2288082
commit 3859d153fa
1 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduCopter/mode.cpp
View File

@ -667,6 +667,13 @@ void Mode::land_run_horizontal_control()
AP::logger().Write_Event(LogEvent::LAND_REPO_ACTIVE); AP::logger().Write_Event(LogEvent::LAND_REPO_ACTIVE);
} }
copter.ap.land_repo_active = true; 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
} }
} }