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Added minimum Altitude for RTL failsafe

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Jason Short 2011-11-26 13:39:22 -08:00 committed by Jason Short
parent b09ab99699
commit 67873813ce
1 changed files with 3 additions and 1 deletions
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4
ArduCopter/events.pde
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@ -17,8 +17,10 @@ static void failsafe_on_event()
default: default:
if(home_is_set == true){ if(home_is_set == true){
if (get_distance(&current_loc, &home) > 15){ if ((get_distance(&current_loc, &home) > 15) && (current_loc.alt > 400)){
set_mode(RTL); set_mode(RTL);
// override safety
motor_auto_armed = true;
} }
} }
break; break;