Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: prevent a bad glide slope when first entering auto

Browse Source 
we need to ensure that prev_WP_loc is not used as it could be
completely different from current_loc. As a precuation, this also sets
up next_WP_loc so that when the set_next_WP() is first called that
prev_WP_loc is set to current_loc
This commit is contained in:
Andrew Tridgell 2014-05-18 16:14:11 +10:00
parent 5fe0d2c1b2
commit 69b5f352f6
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduPlane/navigation.pde
View File

@ -256,8 +256,8 @@ static void setup_glide_slope(void)
// is basically to prevent situations where we try to slowly
// gain height at low altitudes, potentially hitting
// obstacles.
if (relative_altitude() > 40 || next_WP_loc.alt < prev_WP_loc.alt) {
offset_altitude_cm = next_WP_loc.alt - prev_WP_loc.alt;
if (relative_altitude() > 40 || next_WP_loc.alt < current_loc.alt) {
offset_altitude_cm = next_WP_loc.alt - current_loc.alt;
} else {
offset_altitude_cm = 0;
}

2
ArduPlane/system.pde
View File

@ -335,7 +335,7 @@ static void set_mode(enum FlightMode mode)
case AUTO:
auto_throttle_mode = true;
prev_WP_loc = current_loc;
next_WP_loc = prev_WP_loc = current_loc;
// start or resume the mission, based on MIS_AUTORESET
mission.start_or_resume();
break;