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Update to RTL logic.

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This commit is contained in:
Jason Short 2011-11-07 21:30:12 -08:00
parent 4afc3e9f17
commit 69fec433e6
1 changed files with 2 additions and 1 deletions
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3
ArduCopter/commands_logic.pde
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@ -468,8 +468,9 @@ static bool verify_RTL()
{ {
// loiter at the WP // loiter at the WP
wp_control = WP_MODE; wp_control = WP_MODE;
// Did we pass the WP? // Distance checking
if (wp_distance <= g.waypoint_radius) { if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
wp_control = LOITER_MODE; wp_control = LOITER_MODE;
//gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home")); //gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));