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Copter: zigzag smoother stops on terrain failure

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This commit is contained in:
Randy Mackay 2019-08-22 11:47:43 +09:00
parent 8e385d7453
commit 8a20d37799
1 changed files with 8 additions and 4 deletions
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12
ArduCopter/mode_zigzag.cpp
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@ -122,10 +122,14 @@ void ModeZigZag::return_to_manual_control(bool maintain_target)
if (stage == AUTO) { if (stage == AUTO) {
stage = MANUAL_REGAIN; stage = MANUAL_REGAIN;
loiter_nav->clear_pilot_desired_acceleration(); loiter_nav->clear_pilot_desired_acceleration();
const Vector3f wp_dest = wp_nav->get_wp_destination(); if (maintain_target) {
loiter_nav->init_target(wp_dest); const Vector3f wp_dest = wp_nav->get_wp_destination();
if (maintain_target && wp_nav->origin_and_destination_are_terrain_alt()) { loiter_nav->init_target(wp_dest);
copter.surface_tracking.set_target_alt_cm(wp_dest.z); if (wp_nav->origin_and_destination_are_terrain_alt()) {
copter.surface_tracking.set_target_alt_cm(wp_dest.z);
}
} else {
loiter_nav->init_target();
} }
gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: manual control"); gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: manual control");
} }