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added safety checks for RTL

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This commit is contained in:
Jason Short 2011-11-26 13:28:08 -08:00 committed by Jason Short
parent 6e9d3f72ec
commit b09ab99699
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/events.pde
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@ -16,7 +16,11 @@ static void failsafe_on_event()
// 2 = Stay in AUTO and ignore failsafe // 2 = Stay in AUTO and ignore failsafe
default: default:
set_mode(RTL); if(home_is_set == true){
if (get_distance(&current_loc, &home) > 15){
set_mode(RTL);
}
}
break; break;
} }
} }