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Rover: auto defaults to stop or loiter submode

This commit is contained in:
Randy Mackay 2021-04-21 10:35:06 +09:00 committed by Andrew Tridgell
parent 7cd767fe6d
commit 7618241be4
1 changed files with 9 additions and 5 deletions
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14
Rover/mode_auto.cpp
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@ -11,11 +11,6 @@ bool ModeAuto::_enter()
return false;
}
// init location target
if (!g2.wp_nav.set_desired_location(rover.current_loc)) {
return false;
}
// initialise waypoint speed
g2.wp_nav.set_desired_speed_to_default();
@ -25,6 +20,15 @@ bool ModeAuto::_enter()
// clear guided limits
rover.mode_guided.limit_clear();
// initialise submode to stop or loiter
if (rover.is_boat()) {
if (!start_loiter()) {
start_stop();
}
} else {
start_stop();
}
// restart mission processing
mission.start_or_resume();
return true;