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Copter: initialise vertical speed for Loiter mode

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Randy Mackay 2014-03-17 10:17:57 +09:00
parent dd45647626
commit 0d23c3b910
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/control_loiter.pde
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@ -8,10 +8,16 @@
static bool loiter_init(bool ignore_checks) static bool loiter_init(bool ignore_checks)
{ {
if (GPS_ok() || ignore_checks) { if (GPS_ok() || ignore_checks) {
// set target to current position // set target to current position
wp_nav.init_loiter_target(); wp_nav.init_loiter_target();
// initialize vertical speeds
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
// initialise altitude target to stopping point // initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z(); pos_control.set_target_to_stopping_point_z();
return true; return true;
}else{ }else{
return false; return false;