mirror of https://github.com/ArduPilot/ardupilot
ArduCopter: maintain loiter control even below 1m while landing
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@ -358,17 +358,6 @@ static bool verify_takeoff()
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// verify_land - returns true if landing has been completed
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static bool verify_land()
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{
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// loiter above 3m
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if(current_loc.alt > 300) {
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wp_control = LOITER_MODE;
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}
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// turn off loiter below 1m
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// To-Do: instead of turning off loiter we should make loiter less aggressive
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if(current_loc.alt < 100 ) {
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wp_control = NO_NAV_MODE;
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}
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// rely on THROTTLE_LAND mode to correctly update landing status
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return ap.land_complete;
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}
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