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ArduCopter: ensure RTL performs a land if a failsafe has been triggered

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rmackay9 2012-12-17 21:49:57 +09:00 committed by Andrew Tridgell
parent 6e64b1b357
commit d3cbf733ba
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/commands_logic.pde
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@ -511,7 +511,7 @@ static bool verify_RTL()
// check if we've loitered long enough // check if we've loitered long enough
if( millis() - rtl_loiter_start_time > (uint32_t)g.rtl_loiter_time.get() ) { if( millis() - rtl_loiter_start_time > (uint32_t)g.rtl_loiter_time.get() ) {
// initiate landing or descent // initiate landing or descent
if(g.rtl_alt_final == 0) { if(g.rtl_alt_final == 0 || ap.failsafe) {
// land // land
do_land(); do_land();
// override landing location (do_land defaults to current location) // override landing location (do_land defaults to current location)