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Copter: cancelling no-gps-land switches to AltHold 

Previously it could switch to Loiter
This commit is contained in:
Randy Mackay 2016-01-14 15:13:59 +09:00
parent dc2ec5db18
commit d989cf29e2
1 changed files with 1 additions and 3 deletions
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2
ArduCopter/control_land.cpp
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@ -159,10 +159,8 @@ void Copter::land_nogps_run()
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){ if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT); Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high // exit land if throttle is high
if (!set_mode(LOITER)) {
set_mode(ALT_HOLD); set_mode(ALT_HOLD);
} }
}
if (g.land_repositioning) { if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs // apply SIMPLE mode transform to pilot inputs