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Plane: utilize radius for loiter commands

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This commit is contained in:
Tom Pittenger 2016-01-27 11:35:59 -08:00
parent 068374658c
commit ed98617d42
1 changed files with 8 additions and 3 deletions
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11
ArduPlane/commands_logic.cpp
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@ -606,7 +606,12 @@ bool Plane::verify_loiter_unlim()
} else {
loiter.direction = 1;
}
update_loiter(abs(g.rtl_radius));
if (mission.get_current_nav_cmd().p1 == 0) {
update_loiter(abs(g.rtl_radius));
} else {
update_loiter(mission.get_current_nav_cmd().p1);
}
return false;
}
@ -627,7 +632,7 @@ bool Plane::verify_loiter_time()
bool Plane::verify_loiter_turns()
{
update_loiter(0);
update_loiter(HIGHBYTE(mission.get_current_nav_cmd().p1));
if (loiter.sum_cd > loiter.total_cd) {
loiter.total_cd = 0;
gcs_send_text(MAV_SEVERITY_WARNING,"Verify nav: LOITER orbits complete");
@ -644,7 +649,7 @@ bool Plane::verify_loiter_turns()
*/
bool Plane::verify_loiter_to_alt()
{
update_loiter(0);
update_loiter(HIGHBYTE(mission.get_current_nav_cmd().p1));
//has target altitude been reached?
if (condition_value != 0) {