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Plane: Allow GUIDED mode to take advantage of crosstrack flag.

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Tom Pittenger 2017-11-21 11:44:04 -08:00 committed by Tom Pittenger
parent 7b1157e2d8
commit 518abfe1d0
2 changed files with 4 additions and 1 deletions
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3
ArduPlane/commands.cpp
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@ -91,6 +91,9 @@ void Plane::set_guided_WP(void)
setup_glide_slope(); setup_glide_slope();
setup_turn_angle(); setup_turn_angle();
// disable crosstrack, head directly to the point
auto_state.crosstrack = false;
// reset loiter start time. // reset loiter start time.
loiter.start_time_ms = 0; loiter.start_time_ms = 0;

2
ArduPlane/navigation.cpp
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@ -190,7 +190,7 @@ void Plane::update_loiter(uint16_t radius)
quadplane.guided_start(); quadplane.guided_start();
} }
} else if ((loiter.start_time_ms == 0 && } else if ((loiter.start_time_ms == 0 &&
control_mode == AUTO && (control_mode == AUTO || control_mode == GUIDED) &&
auto_state.crosstrack && auto_state.crosstrack &&
get_distance(current_loc, next_WP_loc) > radius*3) || get_distance(current_loc, next_WP_loc) > radius*3) ||
(control_mode == RTL && quadplane.available() && quadplane.rtl_mode == 1)) { (control_mode == RTL && quadplane.available() && quadplane.rtl_mode == 1)) {