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RTL: Commands.pde 

Removed do_approach function - now redundant
This commit is contained in:
Jason Short 2012-07-01 13:31:04 -07:00
parent c5617eeeac
commit d58ceb2b09
1 changed files with 0 additions and 45 deletions
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45
ArduCopter/commands_logic.pde
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@ -104,18 +104,6 @@ static void process_now_command()
} }
} }
//static void handle_no_commands()
/*{
switch (control_mode){
default:
set_mode(RTL);
break;
}
return;
Serial.println("Handle No CMDs");
}*/
/********************************************************************************/ /********************************************************************************/
// Verify command Handlers // Verify command Handlers
/********************************************************************************/ /********************************************************************************/
@ -254,7 +242,6 @@ static void do_nav_wp()
} }
set_next_WP(&command_nav_queue); set_next_WP(&command_nav_queue);
// this is our bitmask to verify we have met all conditions to move on // this is our bitmask to verify we have met all conditions to move on
wp_verify_byte = 0; wp_verify_byte = 0;
@ -292,38 +279,6 @@ static void do_land()
set_new_altitude(-1000); set_new_altitude(-1000);
} }
static void do_approach()
{
// Set a contrained value to EEPROM
g.rtl_approach_alt.set(constrain((float)g.rtl_approach_alt, 1.0, 10.0));
// Get the target_alt in cm
uint16_t target_alt = (uint16_t)(g.rtl_approach_alt * 100);
// Make sure we are not using this to land and that we are currently above the target approach alt
if(g.rtl_approach_alt >= 1 && current_loc.alt > target_alt){
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(target_alt);
} else {
set_mode(LOITER);
}
}
static void do_loiter_unlimited() static void do_loiter_unlimited()
{ {
wp_control = LOITER_MODE; wp_control = LOITER_MODE;