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commands_logic: Allowed for an approach alt as low as 1m. Added a check to make sure we are currently above our target approach alt.

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This commit is contained in:
Adam M Rivera 2012-04-16 10:11:50 -05:00
parent 41702aca94
commit 3d024ba2dd
1 changed files with 4 additions and 3 deletions
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7
ArduCopter/commands_logic.pde
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@ -294,8 +294,9 @@ static void do_land()
static void do_approach()
{
// Make sure we are not using this to land
if(g.rtl_approach_alt >= 5){
uint16_t target_alt = (uint16_t)(constrain((float)g.rtl_approach_alt, 1, 10) * 100);
// Make sure we are not using this to land and that we are currently above the target approach alt
if(g.rtl_approach_alt >= 1 && current_loc.alt > target_alt){
wp_control = LOITER_MODE;
// just to make sure
@ -312,7 +313,7 @@ static void do_approach()
set_next_WP(&current_loc);
// Set target alt based on user setting
set_new_altitude(g.rtl_approach_alt * 100);
set_new_altitude(target_alt);
} else {
set_mode(LOITER);
}