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commands_logic: Added do_approach() to set the new target alt based on the user defined value.

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This commit is contained in:
Adam M Rivera 2012-04-15 16:53:25 -05:00
parent 83fe6733d4
commit cfe3b58248
1 changed files with 21 additions and 0 deletions
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21
ArduCopter/commands_logic.pde
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@ -292,6 +292,27 @@ static void do_land()
set_new_altitude(-1000); set_new_altitude(-1000);
} }
static void do_approach()
{
wp_control = LOITER_MODE;
// 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;
// A counter that goes up if our climb rate stalls out.
ground_detector = 0;
// hold at our current location
set_next_WP(&current_loc);
// Set target alt based on user setting
set_new_altitude(g.rtl_approach_alt * 100);
}
static void do_loiter_unlimited() static void do_loiter_unlimited()
{ {
wp_control = LOITER_MODE; wp_control = LOITER_MODE;