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Copter: protect loiter controller from bad inputs during failsafe

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Jonathan Challinger 2014-05-09 23:44:07 -07:00 committed by Randy Mackay
parent ca0652fea9
commit 505d2d68d6
1 changed files with 7 additions and 2 deletions
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7
ArduCopter/ArduCopter.pde
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@ -1719,8 +1719,13 @@ void update_roll_pitch_mode(void)
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
if(failsafe.radio) {
// don't allow loiter target to move during failsafe
wp_nav.move_loiter_target(0.0f, 0.0f, 0.01f);
} else {
// update loiter target from user controls
wp_nav.move_loiter_target(control_roll, control_pitch,0.01f);
wp_nav.move_loiter_target(g.rc_1.control_in, g.rc_2.control_in, 0.01f);
}
// copy latest output from nav controller to stabilize controller
nav_roll = wp_nav.get_desired_roll();