Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: fixed GUIDED mode change of altitude down

Browse Source
This commit is contained in:
Andrew Tridgell 2013-07-22 12:49:32 +10:00
parent b8fa83ff54
commit 965dc228c2
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduPlane/navigation.pde
View File

@ -134,7 +134,11 @@ static void calc_altitude_error()
control_mode == CRUISE) {
return;
}
if (offset_altitude_cm != 0) {
if (nav_controller->reached_loiter_target()) {
// once we reach a loiter target then lock to the final
// altitude target
target_altitude_cm = next_WP.alt;
} else if (offset_altitude_cm != 0) {
// control climb/descent rate
target_altitude_cm = next_WP.alt - (offset_altitude_cm*((float)(wp_distance-30) / (float)(wp_totalDistance-30)));