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Revert "Copter: clipped param cmd float to zero" 

This reverts commit 9b6de75203.
This commit is contained in:
Tom Pittenger 2016-04-23 23:51:41 -07:00
parent 64315bfed8
commit afb3e94fe6
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/commands_logic.cpp
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@ -299,7 +299,7 @@ void Copter::do_nav_wp(const AP_Mission::Mission_Command& cmd)
// this will be used to remember the time in millis after we reach or pass the WP. // this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0; loiter_time = 0;
// this is the delay, stored in seconds // this is the delay, stored in seconds
loiter_time_max = (cmd.p1 >= 1) ? cmd.p1 : 0; loiter_time_max = cmd.p1;
// Set wp navigation target // Set wp navigation target
auto_wp_start(local_pos); auto_wp_start(local_pos);
@ -428,7 +428,7 @@ void Copter::do_loiter_time(const AP_Mission::Mission_Command& cmd)
// setup loiter timer // setup loiter timer
loiter_time = 0; loiter_time = 0;
loiter_time_max = (cmd.p1 >= 1) ? cmd.p1 : 0; // units are (seconds) loiter_time_max = cmd.p1; // units are (seconds)
} }
// do_spline_wp - initiate move to next waypoint // do_spline_wp - initiate move to next waypoint
@ -440,7 +440,7 @@ void Copter::do_spline_wp(const AP_Mission::Mission_Command& cmd)
// this will be used to remember the time in millis after we reach or pass the WP. // this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0; loiter_time = 0;
// this is the delay, stored in seconds // this is the delay, stored in seconds
loiter_time_max = (cmd.p1 >= 1) ? cmd.p1 : 0; loiter_time_max = cmd.p1;
// determine segment start and end type // determine segment start and end type
bool stopped_at_start = true; bool stopped_at_start = true;