Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: auto stays in takeoff submode after reaching altitude

Browse Source
This commit is contained in:
Randy Mackay 2019-11-11 20:32:43 +09:00
parent 8f99262ffe
commit d0d07776ec
1 changed files with 1 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/mode_auto.cpp
View File

@ -370,7 +370,7 @@ bool ModeAuto::is_landing() const
bool ModeAuto::is_taking_off() const bool ModeAuto::is_taking_off() const
{ {
return _mode == Auto_TakeOff; return ((_mode == Auto_TakeOff) && !wp_nav->reached_wp_destination());
} }
bool ModeAuto::landing_gear_should_be_deployed() const bool ModeAuto::landing_gear_should_be_deployed() const
@ -741,10 +741,6 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
void ModeAuto::takeoff_run() void ModeAuto::takeoff_run()
{ {
auto_takeoff_run(); auto_takeoff_run();
if (wp_nav->reached_wp_destination()) {
const Vector3f target = wp_nav->get_wp_destination();
wp_start(target, wp_nav->origin_and_destination_are_terrain_alt());
}
} }
// auto_wp_run - runs the auto waypoint controller // auto_wp_run - runs the auto waypoint controller