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Plane: Keep throwing WP in front plane for CONTINUE_AND_CHANGE_ALT

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Michael Day 2014-10-25 13:43:03 -07:00 committed by Andrew Tridgell
parent 442c188ae0
commit 95d2e79312
1 changed files with 8 additions and 1 deletions
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9
ArduPlane/commands_logic.pde
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@ -513,7 +513,14 @@ static bool verify_continue_and_change_alt()
if (abs(adjusted_altitude_cm() - next_WP_loc.alt) <= 500) {
return true;
}
//Is the next_WP less than 200 m away?
if (get_distance(prev_WP_loc, next_WP_loc) < 200.f) {
//push another 300 m down the line
int32_t next_wp_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(next_WP_loc, next_wp_bearing_cd * 0.01f, 300.f);
}
//keep flying the same course
nav_controller->update_waypoint(prev_WP_loc, next_WP_loc);