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Allows user to specify just an altitude for Circle Mode

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This commit is contained in:
Jason Short 2011-12-15 16:10:43 -08:00
parent 05e921f5d0
commit 4b52b61563
1 changed files with 8 additions and 3 deletions
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11
ArduCopter/commands_logic.pde
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@ -301,10 +301,15 @@ static void do_loiter_turns()
{ {
wp_control = CIRCLE_MODE; wp_control = CIRCLE_MODE;
if(command_nav_queue.lat == 0) if(command_nav_queue.lat == 0){
// allow user to specify just the altitude
if(command_nav_queue.alt > 0){
current_loc.alt = command_nav_queue.alt;
}
set_next_WP(&current_loc); set_next_WP(&current_loc);
else }else{
set_next_WP(&command_nav_queue); set_next_WP(&command_nav_queue);
}
loiter_total = command_nav_queue.p1 * 360; loiter_total = command_nav_queue.p1 * 360;
loiter_sum = 0; loiter_sum = 0;
@ -367,7 +372,7 @@ static bool verify_land()
if(sonar_alt < 40){ if(sonar_alt < 40){
land_complete = true; land_complete = true;
//Serial.println("Y"); //Serial.println("Y");
//return true; return true;
} }
} }