From cddcdb8be37b90e614506ca530e8917dbfd92e72 Mon Sep 17 00:00:00 2001 From: Adam M Rivera Date: Sun, 15 Apr 2012 16:57:49 -0500 Subject: [PATCH] commands_logic: Added check to make sure the do_approach method is not being used to land. --- ArduCopter/commands_logic.pde | 29 +++++++++++++++++------------ 1 file changed, 17 insertions(+), 12 deletions(-) diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde index bea0bb447f..14dcd9605f 100644 --- a/ArduCopter/commands_logic.pde +++ b/ArduCopter/commands_logic.pde @@ -294,23 +294,28 @@ static void do_land() static void do_approach() { - wp_control = LOITER_MODE; + // Make sure we are not using this to land + if(g.rtl_approach_alt > 5){ + wp_control = LOITER_MODE; - // just to make sure - land_complete = false; + // just to make sure + land_complete = false; - // landing boost lowers the main throttle to mimmick - // the effect of a user's hand - landing_boost = 0; + // landing boost lowers the main throttle to mimmick + // the effect of a user's hand + landing_boost = 0; - // A counter that goes up if our climb rate stalls out. - ground_detector = 0; + // A counter that goes up if our climb rate stalls out. + ground_detector = 0; - // hold at our current location - set_next_WP(¤t_loc); + // hold at our current location + set_next_WP(¤t_loc); - // Set target alt based on user setting - set_new_altitude(g.rtl_approach_alt * 100); + // Set target alt based on user setting + set_new_altitude(g.rtl_approach_alt * 100); + } else { + set_mode(LOITER); + } } static void do_loiter_unlimited()