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Plane: fixed LOITER_TIME to start when loiter starts

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thanks to Paul Riseborough for finding this bug!
This commit is contained in:
Andrew Tridgell 2013-04-15 21:39:14 +10:00
parent 75f4a43e2d
commit 9f0f482dd7
1 changed files with 8 additions and 2 deletions
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10
ArduPlane/commands_logic.pde
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@ -297,7 +297,8 @@ static void do_loiter_turns()
static void do_loiter_time() static void do_loiter_time()
{ {
set_next_WP(&next_nav_command); set_next_WP(&next_nav_command);
loiter.start_time_ms = millis(); // we set start_time_ms when we reach the waypoint
loiter.start_time_ms = 0;
loiter.time_max_ms = next_nav_command.p1 * (uint32_t)1000; // units are seconds loiter.time_max_ms = next_nav_command.p1 * (uint32_t)1000; // units are seconds
loiter_set_direction_wp(&next_nav_command); loiter_set_direction_wp(&next_nav_command);
} }
@ -413,7 +414,12 @@ static bool verify_loiter_unlim()
static bool verify_loiter_time() static bool verify_loiter_time()
{ {
update_loiter(); update_loiter();
if ((millis() - loiter.start_time_ms) > loiter.time_max_ms) { if (loiter.start_time_ms == 0) {
if (nav_controller->reached_loiter_target()) {
// we've reached the target, start the timer
loiter.start_time_ms = millis();
}
} else if ((millis() - loiter.start_time_ms) > loiter.time_max_ms) {
gcs_send_text_P(SEVERITY_LOW,PSTR("verify_nav: LOITER time complete")); gcs_send_text_P(SEVERITY_LOW,PSTR("verify_nav: LOITER time complete"));
return true; return true;
} }