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When RTLing, force home as the final location for loiter.

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Jason Short 2012-05-30 11:06:41 -07:00
parent 5b31f3ba27
commit abb426aec3
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/ArduCopter.pde
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@ -1751,6 +1751,10 @@ static void update_navigation()
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
// if loiter_timer value > 0, we are set to trigger auto_land or approach after 20 seconds
set_mode(LOITER);
// force loitering above home
next_WP.lat = home.lat;
next_WP.lng = home.lng;
if(g.rtl_land_enabled || failsafe)
loiter_timer = millis();
else