Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 00:04:02 -04:00
Code Issues Packages Projects Releases Wiki Activity

Added home offset for altitude

Browse Source
This commit is contained in:
Jason Short 2012-01-04 09:26:45 -08:00
parent f74e265bb9
commit 6b9d35cc34
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/commands_logic.pde
View File

@ -357,14 +357,14 @@ static bool verify_land()
velocity_land = 2000; velocity_land = 2000;
if (current_loc.alt < 500){ if ((current_loc.alt - home.alt) < 500){
// a LP filter used to tell if we have landed // a LP filter used to tell if we have landed
// will drive to 0 if we are on the ground - maybe, the baro is noisy // will drive to 0 if we are on the ground - maybe, the baro is noisy
velocity_land = ((velocity_land * 7) + (old_alt - current_loc.alt)) / 8; velocity_land = ((velocity_land * 7) + (old_alt - current_loc.alt)) / 8;
} }
old_alt = current_loc.alt; old_alt = current_loc.alt;
if (current_loc.alt < 300){ if ((current_loc.alt - home.alt) < 300){
wp_control = NO_NAV_MODE; wp_control = NO_NAV_MODE;
@ -384,7 +384,7 @@ static bool verify_land()
} }
} }
if(current_loc.alt < 300 && velocity_land <= 100){ if((current_loc.alt - home.alt) < 300 && velocity_land <= 100){
land_complete = true; land_complete = true;
// reset old_alt // reset old_alt
old_alt == 0; old_alt == 0;