Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: boats keep navigating at WP if loiter fails

Browse Source
This commit is contained in:
Randy Mackay 2023-11-28 08:16:12 +09:00
parent 03c50db07e
commit 875960a4c6
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
Rover/mode_auto.cpp
View File

@ -83,13 +83,13 @@ void ModeAuto::update()
case SubMode::WP:
{
// boats loiter once the waypoint is reached
bool keep_navigating = true;
if (rover.is_boat() && g2.wp_nav.reached_destination() && !g2.wp_nav.is_fast_waypoint()) {
start_loiter();
keep_navigating = !start_loiter();
}
// update distance to destination
_distance_to_destination = rover.current_loc.get_distance(g2.wp_nav.get_destination());
} else {
// update navigation controller
// update navigation controller
if (keep_navigating) {
navigate_to_waypoint();
}
break;