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failsafe gps lost bug fix

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Dr Gareth Owen 2013-06-01 11:44:25 +01:00 committed by Randy Mackay
parent b462bfed84
commit 18e566ccc5
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/events.pde
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@ -18,7 +18,7 @@ static void failsafe_radio_on_event()
// if throttle is zero disarm motors
if (g.rc_3.control_in == 0) {
init_disarm_motors();
}else if(ap.home_is_set == true && home_distance > wp_nav.get_waypoint_radius()) {
}else if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
set_mode(RTL);
}else{
// We have no GPS or are very close to home so we will land
@ -38,7 +38,7 @@ static void failsafe_radio_on_event()
// if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
break;
default:
if(ap.home_is_set == true && home_distance > wp_nav.get_waypoint_radius()) {
if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
set_mode(RTL);
}else{
// We have no GPS or are very close to home so we will land
@ -77,7 +77,7 @@ static void low_battery_event(void)
}
break;
case AUTO:
if(ap.home_is_set == true && home_distance > wp_nav.get_waypoint_radius()) {
if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
set_mode(RTL);
}else{
// We have no GPS or are very close to home so we will land
@ -190,7 +190,7 @@ static void failsafe_gcs_check()
// if throttle is zero disarm motors
if (g.rc_3.control_in == 0) {
init_disarm_motors();
}else if(ap.home_is_set == true && home_distance > wp_nav.get_waypoint_radius()) {
}else if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
set_mode(RTL);
}else{
// We have no GPS or are very close to home so we will land
@ -210,7 +210,7 @@ static void failsafe_gcs_check()
// if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
break;
default:
if(ap.home_is_set == true && home_distance > wp_nav.get_waypoint_radius()) {
if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
set_mode(RTL);
}else{
// We have no GPS or are very close to home so we will land