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Copter: avoid hard stop in missions

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apinxiko 2018-03-19 16:20:37 +00:00 committed by Randy Mackay
parent 8b5f5a5fa0
commit 032ad9a67b
1 changed files with 4 additions and 3 deletions
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5
ArduCopter/commands_logic.cpp
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@ -358,8 +358,9 @@ void Copter::ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd)
// Set wp navigation target
wp_start(target_loc);
// if no delay set the waypoint as "fast"
if (loiter_time_max == 0 ) {
// if no delay as well as not final waypoint set the waypoint as "fast"
AP_Mission::Mission_Command temp_cmd;
if (loiter_time_max == 0 && copter.mission.get_next_nav_cmd(cmd.index+1, temp_cmd)) {
copter.wp_nav->set_fast_waypoint(true);
}
}