Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: remove unnecessary check of flight mode from fence response

Browse Source
This commit is contained in:
Randy Mackay 2013-10-24 16:42:14 +09:00
parent d86ac9041e
commit 8e62035328
1 changed files with 3 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduCopter/fence.pde
View File

@ -39,14 +39,12 @@ void fence_check()
if (GPS_ok()) {
// if we are within 100m of the fence, RTL
if( fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
if(control_mode != RTL) {
set_mode(RTL);
if (!set_mode(RTL)) {
set_mode(LAND);
}
}else{
// if more than 100m outside the fence just force a land
if(control_mode != LAND) {
set_mode(LAND);
}
set_mode(LAND);
}
}else{
// we have no GPS so LAND