aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: zigzag uses renamed AC_WPNav::rangefinder_used_and_healthy

Browse Source
This commit is contained in:
Randy Mackay 2019-12-12 20:05:00 +09:00
parent 3ca28e27c6
commit 0a1b96e02d
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/mode_zigzag.cpp
View File

@ -285,7 +285,7 @@ bool ModeZigZag::calculate_next_dest(uint8_t dest_num, bool use_wpnav_alt, Vecto
next_dest.z = wp_nav->get_wp_destination().z;
} else {
// if we have a downward facing range finder then use terrain altitude targets
terrain_alt = copter.rangefinder_alt_ok() && wp_nav->rangefinder_used();
terrain_alt = copter.rangefinder_alt_ok() && wp_nav->rangefinder_used_and_healthy();
if (terrain_alt) {
if (!copter.surface_tracking.get_target_alt_cm(next_dest.z)) {
next_dest.z = copter.rangefinder_state.alt_cm_filt.get();