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ArduCopter: Added code to prevent mode from switching to APPROACH on every loiter.

This commit is contained in:
Adam M Rivera 2012-04-16 16:29:54 -05:00
parent b891622210
commit baf8218b58
1 changed files with 13 additions and 11 deletions
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24
ArduCopter/ArduCopter.pde
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@ -1814,17 +1814,19 @@ static void update_navigation()
wp_control = LOITER_MODE;
}
// If we have a safe approach alt set and we have been loitering for 20 seconds(default), begin approach
if(g.rtl_approach_alt >= 1 && (millis() - loiter_timer) > (RTL_APPROACH_DELAY * 1000)){
// just to make sure we clear the timer
loiter_timer = 0;
set_mode(APPROACH);
}
// Kick us out of loiter and begin landing if the loiter_timer is set
else if(loiter_timer != 0 && (millis() - loiter_timer) > (uint32_t)g.auto_land_timeout.get()){
// just to make sure we clear the timer
loiter_timer = 0;
set_mode(LAND);
if(loiter_timer != 0){
// If we have a safe approach alt set and we have been loitering for 20 seconds(default), begin approach
if(g.rtl_approach_alt >= 1 && (millis() - loiter_timer) > (RTL_APPROACH_DELAY * 1000)){
// just to make sure we clear the timer
loiter_timer = 0;
set_mode(APPROACH);
}
// Kick us out of loiter and begin landing if the loiter_timer is set
else if((millis() - loiter_timer) > (uint32_t)g.auto_land_timeout.get()){
// just to make sure we clear the timer
loiter_timer = 0;
set_mode(LAND);
}
}
// calculates the desired Roll and Pitch