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Plane: fix short loiters exiting early

This commit is contained in:
Tom Pittenger 2016-03-06 06:04:17 -08:00 committed by Andrew Tridgell
parent 8ae6e0d613
commit f3638f421e
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/commands_logic.cpp
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@ -619,7 +619,7 @@ bool Plane::verify_loiter_time()
update_loiter(0);
if (loiter.start_time_ms == 0) {
if (nav_controller->reached_loiter_target()) {
if (nav_controller->reached_loiter_target() && loiter.sum_cd > 1) {
// we've reached the target, start the timer
loiter.start_time_ms = millis();
}
@ -649,7 +649,7 @@ bool Plane::verify_loiter_turns()
if (condition_value != 0) {
// primary goal, loiter time
if (loiter.sum_cd > loiter.total_cd) {
if (loiter.sum_cd > loiter.total_cd && loiter.sum_cd > 1) {
// primary goal completed, initialize secondary heading goal
condition_value = 0;
result = verify_loiter_heading(true);
@ -678,7 +678,7 @@ bool Plane::verify_loiter_to_alt()
//has target altitude been reached?
if (condition_value != 0) {
// primary goal, loiter alt
if (labs(condition_value - current_loc.alt) < 500) {
if (labs(condition_value - current_loc.alt) < 500 && loiter.sum_cd > 1) {
// primary goal completed, initialize secondary heading goal
condition_value = 0;
result = verify_loiter_heading(true);