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Copter: clipped param cmd float to zero

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This commit is contained in:
Tom Pittenger 2016-04-23 23:35:00 -07:00
parent cbbee1149d
commit 9b6de75203
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/commands_logic.cpp
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@ -299,7 +299,7 @@ void Copter::do_nav_wp(const AP_Mission::Mission_Command& cmd)
// this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0;
// this is the delay, stored in seconds
loiter_time_max = cmd.p1;
loiter_time_max = (cmd.p1 >= 1) ? cmd.p1 : 0;
// Set wp navigation target
auto_wp_start(local_pos);
@ -428,7 +428,7 @@ void Copter::do_loiter_time(const AP_Mission::Mission_Command& cmd)
// setup loiter timer
loiter_time = 0;
loiter_time_max = cmd.p1; // units are (seconds)
loiter_time_max = (cmd.p1 >= 1) ? cmd.p1 : 0; // units are (seconds)
}
// do_spline_wp - initiate move to next waypoint
@ -440,7 +440,7 @@ void Copter::do_spline_wp(const AP_Mission::Mission_Command& cmd)
// this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0;
// this is the delay, stored in seconds
loiter_time_max = cmd.p1;
loiter_time_max = (cmd.p1 >= 1) ? cmd.p1 : 0;
// determine segment start and end type
bool stopped_at_start = true;