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Plane: make CIRCLE mode hold altitude

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this will prevent us losing a lot of altitude during the initial
failsafe phase
This commit is contained in:
Andrew Tridgell 2013-02-11 13:52:25 +11:00
parent 693627d76a
commit 9f70c6c70d
2 changed files with 10 additions and 8 deletions
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12
ArduPlane/ArduPlane.pde
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@ -1194,14 +1194,12 @@ static void update_current_flight_mode(void)
case CIRCLE:
// we have no GPS installed and have lost radio contact
// or we just want to fly around in a gentle circle w/o GPS
// ----------------------------------------------------
// or we just want to fly around in a gentle circle w/o GPS,
// holding altitude at the altitude we set when we
// switched into the mode
nav_roll_cd = g.roll_limit_cd / 3;
nav_pitch_cd = 0;
if (failsafe != FAILSAFE_NONE) {
g.channel_throttle.servo_out = g.throttle_cruise;
}
calc_nav_pitch();
calc_throttle();
break;
case MANUAL:

6
ArduPlane/system.pde
View File

@ -337,13 +337,17 @@ static void set_mode(enum FlightMode mode)
{
case INITIALISING:
case MANUAL:
case CIRCLE:
case STABILIZE:
case TRAINING:
case FLY_BY_WIRE_A:
case FLY_BY_WIRE_B:
break;
case CIRCLE:
// the altitude to circle at is taken from the current altitude
next_WP.alt = current_loc.alt;
break;
case AUTO:
update_auto();
break;