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made Loiter over ride exit dependent not on speed, but centered sticks.

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Jason Short 2012-01-29 16:14:56 -08:00
parent cff6799d18
commit af0b0d5a7f
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/ArduCopter.pde
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@ -1686,15 +1686,15 @@ static void update_navigation()
// regain hold when the speed goes down to .5m/s
if(loiter_override){
// this sets the copter to not try and nav while we control it
wp_control = NO_NAV_MODE;
wp_control = NO_NAV_MODE;
// reset LOITER to current position
next_WP.lat = current_loc.lat;
next_WP.lng = current_loc.lng;
next_WP.lat = current_loc.lat;
next_WP.lng = current_loc.lng;
if(g_gps->ground_speed < 50){
loiter_override = false;
wp_control = LOITER_MODE;
if((g.rc_2.control_in + g.rc_1.control_in) == 0){
loiter_override = false;
wp_control = LOITER_MODE;
}
}else{
wp_control = LOITER_MODE;