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Added ending for auto landing

This commit is contained in:
Jason Short 2012-01-10 23:35:05 -08:00
parent 3a5ffc252d
commit e102cb9e6a
1 changed files with 9 additions and 3 deletions
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12
ArduCopter/commands_process.pde
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@ -39,7 +39,7 @@ static void update_commands()
//uint8_t tmp = g.command_index.get();
//Serial.printf("command_index %u \n", tmp);
if (g.command_total <= 1 || g.command_index == 255)
if (g.command_total <= 1 || g.command_index > 127)
return;
if(command_nav_queue.id == NO_COMMAND){
@ -62,8 +62,14 @@ static void update_commands()
g.command_index = command_nav_index = 255;
// if we are on the ground, enter stabilize, else Land
if (land_complete == true){
set_mode(STABILIZE);
// disarm motors
// So what state does this leave us in?
// We are still in the same mode as what landed us,
// so maybe we try to continue to descend just in case we are still in the air
// This will also drive down the Iterm to -300
set_new_altitude(-10000);
// We can't disarm the motors easily. We could very well be wrong
//
//init_disarm_motors();
} else {
set_mode(LAND);