mirror of https://github.com/ArduPilot/ardupilot
commands_logic: Added check to make sure the do_approach method is not being used to land.
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@ -294,23 +294,28 @@ static void do_land()
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static void do_approach()
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{
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wp_control = LOITER_MODE;
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// Make sure we are not using this to land
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if(g.rtl_approach_alt > 5){
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wp_control = LOITER_MODE;
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// just to make sure
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land_complete = false;
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// just to make sure
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land_complete = false;
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// landing boost lowers the main throttle to mimmick
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// the effect of a user's hand
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landing_boost = 0;
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// landing boost lowers the main throttle to mimmick
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// the effect of a user's hand
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landing_boost = 0;
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// A counter that goes up if our climb rate stalls out.
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ground_detector = 0;
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// A counter that goes up if our climb rate stalls out.
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ground_detector = 0;
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// hold at our current location
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set_next_WP(¤t_loc);
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// hold at our current location
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set_next_WP(¤t_loc);
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// Set target alt based on user setting
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set_new_altitude(g.rtl_approach_alt * 100);
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// Set target alt based on user setting
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set_new_altitude(g.rtl_approach_alt * 100);
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} else {
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set_mode(LOITER);
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}
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}
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static void do_loiter_unlimited()
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