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Copter: set wp to "fast" if they have no delay

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Randy Mackay 2013-05-09 00:18:36 +09:00
parent 9f735c8d03
commit 1b2d8636ca
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/commands_logic.pde
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@ -277,6 +277,10 @@ static void do_nav_wp()
loiter_time = 0; loiter_time = 0;
// this is the delay, stored in seconds and expanded to millis // this is the delay, stored in seconds and expanded to millis
loiter_time_max = command_nav_queue.p1; loiter_time_max = command_nav_queue.p1;
// if no delay set the waypoint as "fast"
if (loiter_time_max == 0 ) {
wp_nav.set_fast_waypoint(true);
}
// set yaw_mode depending upon contents of WP_YAW_BEHAVIOR parameter // set yaw_mode depending upon contents of WP_YAW_BEHAVIOR parameter
set_yaw_mode(get_wp_yaw_mode(false)); set_yaw_mode(get_wp_yaw_mode(false));