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Copter: auto loiter handles terrain

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This commit is contained in:
Randy Mackay 2016-03-11 17:15:47 +09:00
parent 4892446c55
commit 70630e9774
1 changed files with 6 additions and 2 deletions
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8
ArduCopter/control_auto.cpp
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@ -576,8 +576,12 @@ void Copter::auto_loiter_run()
// set motors to full range // set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run waypoint and z-axis postion controller // run waypoint and z-axis position controller
wp_nav.update_wpnav(); if (!wp_nav.update_wpnav()) {
// failures to update probably caused by missing terrain data
Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_TO_UPDATE_TARGET);
// To-Do: handle failure by triggering RTL after 5 seconds with no update?
}
pos_control.update_z_controller(); pos_control.update_z_controller();
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
} }