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Added home offset for altitude

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Jason Short 2012-01-04 09:26:45 -08:00
parent 40c649a27b
commit 467ef66a77
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/commands_logic.pde
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@ -357,14 +357,14 @@ static bool verify_land()
velocity_land = 2000;
if (current_loc.alt < 500){
if ((current_loc.alt - home.alt) < 500){
// a LP filter used to tell if we have landed
// will drive to 0 if we are on the ground - maybe, the baro is noisy
velocity_land = ((velocity_land * 7) + (old_alt - current_loc.alt)) / 8;
}
old_alt = current_loc.alt;
if (current_loc.alt < 300){
if ((current_loc.alt - home.alt) < 300){
wp_control = NO_NAV_MODE;
@ -384,7 +384,7 @@ static bool verify_land()
}
}
if(current_loc.alt < 300 && velocity_land <= 100){
if((current_loc.alt - home.alt) < 300 && velocity_land <= 100){
land_complete = true;
// reset old_alt
old_alt == 0;