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Added auto_land to RTL

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This commit is contained in:
Jason Short 2012-01-05 21:15:03 -08:00
parent 9d9bef37a8
commit beac2930c9
1 changed files with 10 additions and 4 deletions
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14
ArduCopter/ArduCopter.pde
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@ -787,6 +787,8 @@ static uint32_t nav_loopTimer;
static float dTnav;
// Counters for branching from 4 minute control loop used to save Compass offsets
static int16_t superslow_loopCounter;
// RTL Autoland Timer
static uint32_t auto_land_timer;
// Tracks if GPS is enabled based on statup routine
@ -1606,10 +1608,8 @@ static void update_navigation()
case RTL:
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
//lets just jump to Loiter Mode after RTL
//if(land after RTL)
//set_mode(LAND);
//else
// if this value > 0, we are set to trigger auto_land after 30 seconds
auto_land_timer = millis();
set_mode(LOITER);
}else{
@ -1642,6 +1642,12 @@ static void update_navigation()
wp_control = LOITER_MODE;
}
if(auto_land_timer != 0 && (millis() - auto_land_timer) > 30000){
// just to make sure we clear the timer
auto_land_timer = 0;
set_mode(land);
}
// calculates the desired Roll and Pitch
update_nav_wp();
break;