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Copter: bug fix rally point landing target 

was drifting toward home by some distance as (0,0,0) was hard-coded in
control_rtl.pde. Fixed, tested in SITL
This commit is contained in:
Andrew Chapman 2014-05-07 01:24:20 -07:00 committed by Randy Mackay
parent 6b0d5f9770
commit 8640e11728
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/control_rtl.pde
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@ -236,7 +236,7 @@ static void rtl_descent_start()
rtl_state_complete = false;
// Set wp navigation target to above home
wp_nav.set_loiter_target(Vector3f(0,0,0));
wp_nav.set_loiter_target(wp_nav.get_wp_destination());
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
@ -295,7 +295,7 @@ static void rtl_land_start()
rtl_state_complete = false;
// Set wp navigation target to above home
wp_nav.set_loiter_target(Vector3f(0,0,0));
wp_nav.set_loiter_target(wp_nav.get_wp_destination());
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();