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ArduCopter - small change to ensure both roll and pitch commands are zero before switching out of loiter_override (loiter override becomes true when roll+pitch command is greater than 5 degrees and switches back to false when both become zero) 

- remove incorrect comments about when loiter target position is reset.
This commit is contained in:
rmackay9 2012-03-18 15:16:04 +09:00
parent dc92da818c
commit 9841cb0335
1 changed files with 1 additions and 3 deletions
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4
ArduCopter/ArduCopter.pde
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@ -1781,12 +1781,10 @@ static void update_navigation()
// go of the sticks // go of the sticks
if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 500){ if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 500){
// flag will reset when speed drops below .5 m/s
loiter_override = true; loiter_override = true;
} }
// Allow the user to take control temporarily, // Allow the user to take control temporarily,
// regain hold when the speed goes down to .5m/s
if(loiter_override){ if(loiter_override){
// this sets the copter to not try and nav while we control it // this sets the copter to not try and nav while we control it
wp_control = NO_NAV_MODE; wp_control = NO_NAV_MODE;
@ -1795,7 +1793,7 @@ static void update_navigation()
next_WP.lat = current_loc.lat; next_WP.lat = current_loc.lat;
next_WP.lng = current_loc.lng; next_WP.lng = current_loc.lng;
if((g.rc_2.control_in + g.rc_1.control_in) == 0){ if( g.rc_2.control_in == 0 && g.rc_1.control_in == 0 ){
loiter_override = false; loiter_override = false;
wp_control = LOITER_MODE; wp_control = LOITER_MODE;
} }