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Beeping when first reaching waypoint even while in holding there

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apinxiko 2018-06-04 03:52:28 +09:00 committed by Randy Mackay
parent 75c2a2b02a
commit 5df4b9f6fd
1 changed files with 9 additions and 2 deletions
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7
ArduCopter/mode_auto.cpp
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@ -1789,12 +1789,19 @@ bool Copter::ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// start timer if necessary // start timer if necessary
if(loiter_time == 0) { if(loiter_time == 0) {
loiter_time = millis(); loiter_time = millis();
if(loiter_time_max > 0) {
// play a tone
AP_Notify::events.waypoint_complete = 1;
gcs().send_text(MAV_SEVERITY_INFO, "Delay in arrival at command #%i",cmd.index);
}
} }
// check if timer has run out // check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) { if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
if(loiter_time_max == 0) {
// play a tone // play a tone
AP_Notify::events.waypoint_complete = 1; AP_Notify::events.waypoint_complete = 1;
}
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index); gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true; return true;
}else{ }else{