Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduCopter/events.pde
View File

@ -12,16 +12,23 @@ static void failsafe_on_event()
case AUTO:
if (g.throttle_fs_action == 1) {
set_mode(RTL);
// send up up 10m
next_WP.alt += 1000;
}
// 2 = Stay in AUTO and ignore failsafe
default:
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);
// override safety
motor_auto_armed = true;
// send up up 10m
next_WP.alt += 1000;
}
}else{
// We have no GPS so we must land
set_mode(LAND);
}
break;
}