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Arducopter.pde : setting rtl_approach_alt above 1 would force auto landing even if auto-landing was disabled.

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This commit is contained in:
Jason Short 2012-05-23 22:00:49 -07:00
parent c307b69515
commit 7df1aa2914
1 changed files with 1 additions and 3 deletions
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4
ArduCopter/ArduCopter.pde
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@ -350,8 +350,6 @@ static const char* flight_mode_strings[] = {
static int16_t x_actual_speed; static int16_t x_actual_speed;
static int16_t y_actual_speed; static int16_t y_actual_speed;
static int16_t x_rate_d;
static int16_t y_rate_d;
// The difference between the desired rate of travel and the actual rate of travel // The difference between the desired rate of travel and the actual rate of travel
// updated after GPS read - 5-10hz // updated after GPS read - 5-10hz
@ -1773,7 +1771,7 @@ static void update_navigation()
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){ if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
// if loiter_timer value > 0, we are set to trigger auto_land or approach after 20 seconds // if loiter_timer value > 0, we are set to trigger auto_land or approach after 20 seconds
set_mode(LOITER); set_mode(LOITER);
if(g.rtl_approach_alt >= 1 || g.rtl_land_enabled || failsafe) if(g.rtl_land_enabled || failsafe)
loiter_timer = millis(); loiter_timer = millis();
else else
loiter_timer = 0; loiter_timer = 0;