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moved out failsafe check. otherwise the reporting was erroneous.
This commit is contained in:
Jason Short 2012-01-09 16:56:52 -08:00
parent 92f7b22722
commit 5f55780b5e
1 changed files with 7 additions and 8 deletions
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15
ArduCopter/events.pde
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@ -11,21 +11,20 @@ static void failsafe_on_event()
{
case AUTO:
if (g.throttle_fs_action == 1) {
// do_rtl sets the altitude to the current altitude by default
set_mode(RTL);
// send up up 10m
// We add an additional 10m to the current altitude
next_WP.alt += 1000;
}
// 2 = Stay in AUTO and ignore failsafe
default:
if(home_is_set == true){
// home distance is in meters
// This is to prevent accidental RTL
if ((home_distance > 15) && (current_loc.alt > 400)){
set_mode(RTL);
// send up up 10m
next_WP.alt += 1000;
}
// same as above ^
// do_rtl sets the altitude to the current altitude by default
set_mode(RTL);
// We add an additional 10m to the current altitude
next_WP.alt += 1000;
}else{
// We have no GPS so we must land
set_mode(LAND);