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Made RTL go up 10m for failsafe

This commit is contained in:
Jason Short 2012-01-06 10:20:48 -08:00
parent 17873eb09c
commit 8f3c577e47
1 changed files with 10 additions and 3 deletions
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13
ArduCopter/events.pde
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@ -12,16 +12,23 @@ static void failsafe_on_event()
case AUTO: case AUTO:
if (g.throttle_fs_action == 1) { if (g.throttle_fs_action == 1) {
set_mode(RTL); set_mode(RTL);
// send up up 10m
next_WP.alt += 1000;
} }
// 2 = Stay in AUTO and ignore failsafe // 2 = Stay in AUTO and ignore failsafe
default: default:
if(home_is_set == true){ if(home_is_set == true){
if ((get_distance(&current_loc, &home) > 15) && (current_loc.alt > 400)){ // home distance is in meters
// This is to prevent accidental RTL
if ((home_distance > 15) && (current_loc.alt > 400)){
set_mode(RTL); set_mode(RTL);
// override safety // send up up 10m
motor_auto_armed = true; next_WP.alt += 1000;
} }
}else{
// We have no GPS so we must land
set_mode(LAND);
} }
break; break;
} }