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https://github.com/ArduPilot/ardupilot
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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.
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@ -1814,8 +1814,11 @@ static void update_navigation()
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wp_control = LOITER_MODE;
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wp_control = LOITER_MODE;
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}
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}
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if(g.rtl_approach_alt > 0){
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set_mode(APPROACH);
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}
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// Kick us out of loiter and begin landing if the auto_land_timer is set
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// Kick us out of loiter and begin landing if the auto_land_timer is set
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if(auto_land_timer != 0 && (millis() - auto_land_timer) > (uint32_t)g.auto_land_timeout.get()){
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else if(auto_land_timer != 0 && (millis() - auto_land_timer) > (uint32_t)g.auto_land_timeout.get()){
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// just to make sure we clear the timer
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// just to make sure we clear the timer
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auto_land_timer = 0;
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auto_land_timer = 0;
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set_mode(LAND);
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set_mode(LAND);
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@ -1835,6 +1838,11 @@ static void update_navigation()
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update_nav_wp();
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update_nav_wp();
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break;
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break;
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case APPROACH:
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// calculates the desired Roll and Pitch
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update_nav_wp();
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break;
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case CIRCLE:
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case CIRCLE:
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yaw_tracking = MAV_ROI_WPNEXT;
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yaw_tracking = MAV_ROI_WPNEXT;
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wp_control = CIRCLE_MODE;
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wp_control = CIRCLE_MODE;
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