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Plane: don't start summing for loiter until we reach loiter circle

This commit is contained in:
Andrew Tridgell 2016-03-10 15:43:28 +11:00
parent f3638f421e
commit d7d528560d
1 changed files with 4 additions and 1 deletions
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5
ArduPlane/navigation.cpp
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@ -34,7 +34,10 @@ void Plane::loiter_angle_update(void)
{ {
int32_t target_bearing_cd = nav_controller->target_bearing_cd(); int32_t target_bearing_cd = nav_controller->target_bearing_cd();
int32_t loiter_delta_cd; int32_t loiter_delta_cd;
if (loiter.sum_cd == 0) { if (loiter.sum_cd == 0 && !nav_controller->reached_loiter_target()) {
// we don't start summing until we are doing the real loiter
loiter_delta_cd = 0;
} else if (loiter.sum_cd == 0) {
// use 1 cd for initial delta // use 1 cd for initial delta
loiter_delta_cd = 1; loiter_delta_cd = 1;
} else { } else {