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Copter: loiter glitch fix

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Leonard Hall 2018-08-21 15:57:45 +09:30 committed by Andrew Tridgell
parent 241972a300
commit c30e328057
1 changed files with 14 additions and 2 deletions
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16
ArduCopter/mode_loiter.cpp
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@ -8,8 +8,20 @@
bool Copter::ModeLoiter::init(bool ignore_checks) bool Copter::ModeLoiter::init(bool ignore_checks)
{ {
if (copter.position_ok() || ignore_checks) { if (copter.position_ok() || ignore_checks) {
if (!copter.failsafe.radio) {
float target_roll, target_pitch;
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// set target to current position // convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
// process pilot's roll and pitch input
loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch, G_Dt);
} else {
// clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
loiter_nav->clear_pilot_desired_acceleration();
}
loiter_nav->init_target(); loiter_nav->init_target();
// initialise position and desired velocity // initialise position and desired velocity
@ -19,7 +31,7 @@ bool Copter::ModeLoiter::init(bool ignore_checks)
} }
return true; return true;
}else{ } else {
return false; return false;
} }
} }