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Copter: GPS Failsafe switch to LAND if circular fence enabled

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Randy Mackay 2013-06-26 11:56:58 +09:00
parent 4fd4ef3400
commit 3ce005a436
1 changed files with 5 additions and 0 deletions
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ArduCopter/events.pde
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@ -140,6 +140,11 @@ static void failsafe_gps_check()
// take action based on flight mode // take action based on flight mode
if(mode_requires_GPS(control_mode)) if(mode_requires_GPS(control_mode))
set_mode(LAND); set_mode(LAND);
// land if circular fence is enabled
if((fence.get_enabled_fences() & AC_FENCE_TYPE_CIRCLE) != 0) {
set_mode(LAND);
}
} }
// failsafe_gps_off_event - actions to take when GPS contact is restored // failsafe_gps_off_event - actions to take when GPS contact is restored