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ArduCopter: Loiter Timer should have been set when the approach altitude was set. Previously, land had to be enabled before auto approach would work.

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This commit is contained in:
Adam M Rivera 2012-06-28 20:34:53 -05:00
parent 37fc6c46b9
commit dadc7d5a7d
1 changed files with 2 additions and 1 deletions
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3
ArduCopter/ArduCopter.pde
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@ -1824,7 +1824,8 @@ static void update_navigation()
next_WP.lat = home.lat;
next_WP.lng = home.lng;
if(g.rtl_land_enabled || failsafe)
// If land is enabled OR failsafe OR auto approach altitude is set
if(g.rtl_land_enabled || failsafe || g.rtl_approach_alt >= 1)
loiter_timer = millis();
else
loiter_timer = 0;