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attempting to force down without using Manual boost.

This commit is contained in:
Jason Short 2012-01-11 21:45:24 -08:00
parent 892f24ac5c
commit 5e9db462f5
1 changed files with 4 additions and 1 deletions
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5
ArduCopter/commands_logic.pde
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@ -359,9 +359,12 @@ static bool verify_land()
// remenber altitude for climb_rate // remenber altitude for climb_rate
old_alt = current_loc.alt; old_alt = current_loc.alt;
if ((current_loc.alt - home.alt) < 200){ if ((current_loc.alt - home.alt) < 250){
// don't bank to hold position // don't bank to hold position
wp_control = NO_NAV_MODE; wp_control = NO_NAV_MODE;
// try and come down faster
// by setting next_WP really low.
set_new_altitude(-1000);
} }
if((current_loc.alt - home.alt) < 100 && velocity_land <= 50){ if((current_loc.alt - home.alt) < 100 && velocity_land <= 50){