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Auto_land update

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This commit is contained in:
Jason Short 2012-01-05 21:57:34 -08:00
parent beac2930c9
commit de912b5054
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/ArduCopter.pde
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@ -1609,8 +1609,8 @@ static void update_navigation()
case RTL: case RTL:
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){ if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
// if this value > 0, we are set to trigger auto_land after 30 seconds // if this value > 0, we are set to trigger auto_land after 30 seconds
auto_land_timer = millis();
set_mode(LOITER); set_mode(LOITER);
auto_land_timer = millis();
}else{ }else{
// calculates desired Yaw // calculates desired Yaw
@ -1645,7 +1645,7 @@ static void update_navigation()
if(auto_land_timer != 0 && (millis() - auto_land_timer) > 30000){ if(auto_land_timer != 0 && (millis() - auto_land_timer) > 30000){
// just to make sure we clear the timer // just to make sure we clear the timer
auto_land_timer = 0; auto_land_timer = 0;
set_mode(land); set_mode(LAND);
} }
// calculates the desired Roll and Pitch // calculates the desired Roll and Pitch