Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: mode rtl loses duplicate calls to calc_lateral_acceleration

Browse Source 
Also no need to call calc_nav_steer
no need to set throttle before entering hold
This commit is contained in:
Randy Mackay 2017-07-19 17:05:01 +09:00
parent 4fe937b985
commit 88b2f62e2f
1 changed files with 0 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
APMrover2/mode_rtl.cpp
View File

@ -23,10 +23,6 @@ void ModeRTL::update_navigation()
{
// no loitering around the wp with the rover, goes direct to the wp position
if (rover.verify_RTL()) {
g2.motors.set_throttle(g.throttle_min.get());
rover.set_mode(rover.mode_hold);
} else {
calc_lateral_acceleration();
calc_nav_steer();
}
}