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dupe of landing logic for scripting

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This commit is contained in:
Jason Short 2011-12-14 22:04:11 -08:00
parent f48e394511
commit 4d90058c90
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/commands_logic.pde
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@ -357,12 +357,13 @@ static bool verify_land()
velocity_land = ((old_alt - current_loc.alt) *.2) + (velocity_land * .8);
old_alt = current_loc.alt;
if (current_loc.alt < 250){
wp_control = NO_NAV_MODE;
next_WP.alt = -200; // force us down
}
if(g.sonar_enabled){
// decide which sensor we're using
if(sonar_alt < 300){
next_WP = current_loc; // don't pitch or roll
next_WP.alt = -200; // force us down
}
if(sonar_alt < 40){
land_complete = true;
//Serial.println("Y");
@ -377,7 +378,6 @@ static bool verify_land()
}
//Serial.printf("N, %d\n", velocity_land);
//Serial.printf("N_alt, %ld\n", next_WP.alt);
return false;
}