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Ardcucopter: RTL distance check update, reset I terms fixed.

This commit is contained in:
Jason Short 2012-07-20 13:25:53 -07:00
parent 5f5c884a6d
commit e585eaa253
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/ArduCopter.pde
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@ -1692,10 +1692,10 @@ void update_roll_pitch_mode(void)
break;
}
//if(g.rc_3.control_in == 0 && roll_pitch_mode <= ROLL_PITCH_ACRO){
//reset_rate_I();
//reset_stability_I();
//}
if(g.rc_3.control_in == 0 && control_mode <= ACRO){
reset_rate_I();
reset_stability_I();
}
//if(takeoff_complete == false){
// reset these I terms to prevent awkward tipping on takeoff
@ -2025,7 +2025,7 @@ static void update_navigation()
static void update_nav_RTL()
{
// Have we have reached Home?
if(wp_distance <= 100 /* || check_missed_wp()*/){
if(wp_distance <= 200 || check_missed_wp()){
// if loiter_timer value > 0, we are set to trigger auto_land or approach
set_mode(LOITER);