Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Jason Short 2012-01-29 16:14:56 -08:00
parent cff6799d18
commit af0b0d5a7f
1 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
ArduCopter/ArduCopter.pde
View File

@ -1686,15 +1686,15 @@ static void update_navigation()
// regain hold when the speed goes down to .5m/s // regain hold when the speed goes down to .5m/s
if(loiter_override){ if(loiter_override){
// this sets the copter to not try and nav while we control it // 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 // reset LOITER to current position
next_WP.lat = current_loc.lat; next_WP.lat = current_loc.lat;
next_WP.lng = current_loc.lng; next_WP.lng = current_loc.lng;
if(g_gps->ground_speed < 50){ if((g.rc_2.control_in + g.rc_1.control_in) == 0){
loiter_override = false; loiter_override = false;
wp_control = LOITER_MODE; wp_control = LOITER_MODE;
} }
}else{ }else{
wp_control = LOITER_MODE; wp_control = LOITER_MODE;