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Arducopter.pde: 

Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
This commit is contained in:
Jason Short 2012-07-03 17:21:46 -07:00
parent b076b571eb
commit 8ccda519fa
1 changed files with 4 additions and 4 deletions
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ArduCopter/ArduCopter.pde
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@ -1508,7 +1508,7 @@ void update_yaw_mode(void)
break; break;
case YAW_AUTO: case YAW_AUTO:
nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -20, 20); // 40 deg a second nav_yaw += constrain(wrap_180(auto_yaw - nav_yaw), -60, 60); // 40 deg a second
//Serial.printf("nav_yaw %d ", nav_yaw); //Serial.printf("nav_yaw %d ", nav_yaw);
nav_yaw = wrap_360(nav_yaw); nav_yaw = wrap_360(nav_yaw);
break; break;
@ -1961,10 +1961,9 @@ static void update_nav_RTL()
if(wp_distance <= g.waypoint_radius){ if(wp_distance <= g.waypoint_radius){
// if loiter_timer value > 0, we are set to trigger auto_land or approach // if loiter_timer value > 0, we are set to trigger auto_land or approach
set_mode(LOITER); set_mode(LOITER);
// just un case we arrive and we aren't at the lower RTL alt yet. // just un case we arrive and we aren't at the lower RTL alt yet.
if(current_loc.alt > get_RTL_alt()){ set_new_altitude(get_RTL_alt());
set_new_altitude(get_RTL_alt());
}
// force loitering above home // force loitering above home
next_WP.lat = home.lat; next_WP.lat = home.lat;
@ -1972,6 +1971,7 @@ static void update_nav_RTL()
// If land is enabled OR failsafe OR auto approach altitude is set // If land is enabled OR failsafe OR auto approach altitude is set
// we will go into automatic land, (g.rtl_approach_alt) is the lowest point // we will go into automatic land, (g.rtl_approach_alt) is the lowest point
// -1 means disable feature
if(failsafe || g.rtl_approach_alt >= 0) if(failsafe || g.rtl_approach_alt >= 0)
loiter_timer = millis(); loiter_timer = millis();
else else