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Copter: position_ok when optical flow ok 

Previously the GPS based absolute position was required
This allows using optical flow in all flight modes
This commit is contained in:
Randy Mackay 2015-10-14 11:52:48 +09:00
parent b068f51c45
commit 9b80ab18ae
3 changed files with 3 additions and 3 deletions
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2
ArduCopter/control_brake.cpp
View File

@ -9,7 +9,7 @@
// brake_init - initialise brake controller // brake_init - initialise brake controller
bool Copter::brake_init(bool ignore_checks) bool Copter::brake_init(bool ignore_checks)
{ {
if (position_ok() || optflow_position_ok() || ignore_checks) { if (position_ok() || ignore_checks) {
// set desired acceleration to zero // set desired acceleration to zero
wp_nav.clear_pilot_desired_acceleration(); wp_nav.clear_pilot_desired_acceleration();

2
ArduCopter/control_loiter.cpp
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@ -9,7 +9,7 @@
// loiter_init - initialise loiter controller // loiter_init - initialise loiter controller
bool Copter::loiter_init(bool ignore_checks) bool Copter::loiter_init(bool ignore_checks)
{ {
if (position_ok() || optflow_position_ok() || ignore_checks) { if (position_ok() || ignore_checks) {
// set target to current position // set target to current position
wp_nav.init_loiter_target(); wp_nav.init_loiter_target();

2
ArduCopter/system.cpp
View File

@ -329,7 +329,7 @@ bool Copter::position_ok()
} }
// check ekf position estimate // check ekf position estimate
return ekf_position_ok(); return (ekf_position_ok() || optflow_position_ok());
} }
// ekf_position_ok - returns true if the ekf claims it's horizontal absolute position estimate is ok and home position is set // ekf_position_ok - returns true if the ekf claims it's horizontal absolute position estimate is ok and home position is set