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ArduCopter: Added check to g.rtl_approach_alt, which if greater than zero will initiate an approach to the target alt rather than land.

This commit is contained in:
Adam M Rivera 2012-04-15 16:54:43 -05:00
parent cfe3b58248
commit a24b7bcf14
1 changed files with 9 additions and 1 deletions
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10
ArduCopter/ArduCopter.pde
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@ -1814,8 +1814,11 @@ static void update_navigation()
wp_control = LOITER_MODE;
}
if(g.rtl_approach_alt > 0){
set_mode(APPROACH);
}
// Kick us out of loiter and begin landing if the auto_land_timer is set
if(auto_land_timer != 0 && (millis() - auto_land_timer) > (uint32_t)g.auto_land_timeout.get()){
else if(auto_land_timer != 0 && (millis() - auto_land_timer) > (uint32_t)g.auto_land_timeout.get()){
// just to make sure we clear the timer
auto_land_timer = 0;
set_mode(LAND);
@ -1835,6 +1838,11 @@ static void update_navigation()
update_nav_wp();
break;
case APPROACH:
// calculates the desired Roll and Pitch
update_nav_wp();
break;
case CIRCLE:
yaw_tracking = MAV_ROI_WPNEXT;
wp_control = CIRCLE_MODE;