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Copter: fix to RTL, PosHold and Loiter's use of filter status

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Randy Mackay 2015-01-05 17:58:37 +09:00
parent cc52bbbffb
commit 4185d17915
3 changed files with 3 additions and 3 deletions
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2
ArduCopter/control_loiter.pde
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@ -33,7 +33,7 @@ static void loiter_run()
float target_climb_rate = 0; float target_climb_rate = 0;
// if not auto armed set throttle to zero and exit immediately // if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.get_filter_status().flags.horiz_pos_abs) { if(!ap.auto_armed || !ap.home_is_set) {
wp_nav.init_loiter_target(); wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller(); attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading(); attitude_control.set_yaw_target_to_current_heading();

2
ArduCopter/control_poshold.pde
View File

@ -154,7 +154,7 @@ static void poshold_run()
const Vector3f& vel = inertial_nav.get_velocity(); const Vector3f& vel = inertial_nav.get_velocity();
// if not auto armed set throttle to zero and exit immediately // if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.get_filter_status().flags.horiz_pos_abs) { if(!ap.auto_armed || !ap.home_is_set) {
wp_nav.init_loiter_target(); wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller(); attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading(); attitude_control.set_yaw_target_to_current_heading();

2
ArduCopter/control_rtl.pde
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@ -261,7 +261,7 @@ static void rtl_descent_run()
float target_yaw_rate = 0; float target_yaw_rate = 0;
// if not auto armed set throttle to zero and exit immediately // if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.get_filter_status().flags.horiz_pos_abs) { if(!ap.auto_armed || !ap.home_is_set) {
attitude_control.relax_bf_rate_controller(); attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading(); attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false); attitude_control.set_throttle_out(0, false);