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Added user editable define for Super simple radius

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This commit is contained in:
Jason Short 2012-06-26 10:38:33 -07:00
parent 74d37a3713
commit 3fcd3100cc
2 changed files with 6 additions and 1 deletions
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2
ArduCopter/ArduCopter.pde
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@ -1935,7 +1935,7 @@ static void update_navigation()
// are we in SIMPLE mode?
if(do_simple && g.super_simple){
// get distance to home
if(home_distance > 1000){ // 10m from home
if(home_distance > SUPER_SIMPLE_RADIUS){ // 10m from home
// we reset the angular offset to be a vector from home to the quad
initial_simple_bearing = home_to_copter_bearing;
//Serial.printf("ISB: %d\n", initial_simple_bearing);

5
ArduCopter/config.h
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@ -555,6 +555,11 @@
# define SUPER_SIMPLE DISABLED
#endif
#ifndef SUPER_SIMPLE_RADIUS
# define SUPER_SIMPLE_RADIUS 1000
#endif
// RTL Mode
#ifndef RTL_AUTO_LAND
# define RTL_AUTO_LAND ENABLED