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Plane: do not use guided waypoint for loiter location 

Currently this waypoint is set 10,000m away by the avoidance behaviour

Instead, immediately enter loiter mode
This commit is contained in:
Peter Barker 2020-08-16 11:24:44 +10:00 committed by Andrew Tridgell
parent 43b5f22c1a
commit 91e784f28d
1 changed files with 8 additions and 1 deletions
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9
ArduPlane/avoidance_adsb.cpp
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@ -137,11 +137,18 @@ void AP_Avoidance_Plane::handle_recovery(RecoveryAction recovery_action)
case RecoveryAction::RESUME_IF_AUTO_ELSE_LOITER: case RecoveryAction::RESUME_IF_AUTO_ELSE_LOITER:
if (prev_control_mode_number == Mode::Number::AUTO) { if (prev_control_mode_number == Mode::Number::AUTO) {
plane.set_mode(plane.mode_auto, ModeReason::AVOIDANCE_RECOVERY); plane.set_mode(plane.mode_auto, ModeReason::AVOIDANCE_RECOVERY);
} else {
// let ModeAvoidADSB continue in its guided
// behaviour, but reset the loiter location,
// rather than where the avoidance location was
plane.set_guided_WP(plane.current_loc);
} }
// else do nothing, same as RecoveryAction::LOITER
break; break;
default: default:
// user has specified an invalid recovery action;
// loiter where we are
plane.set_guided_WP(plane.current_loc);
break; break;
} // switch } // switch
} }