Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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

This commit is contained in:
Jason Short 2012-05-30 11:06:41 -07:00
parent 5b31f3ba27
commit abb426aec3
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/ArduCopter.pde
View File

@ -1751,6 +1751,10 @@ static void update_navigation()
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){ 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 // if loiter_timer value > 0, we are set to trigger auto_land or approach after 20 seconds
set_mode(LOITER); set_mode(LOITER);
// force loitering above home
next_WP.lat = home.lat;
next_WP.lng = home.lng;
if(g.rtl_land_enabled || failsafe) if(g.rtl_land_enabled || failsafe)
loiter_timer = millis(); loiter_timer = millis();
else else