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Copter: batt failsafe triggers RTL from AUTO

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This commit is contained in:
Randy Mackay 2013-11-16 14:55:49 +09:00
parent 5b4ca2d334
commit 74e33d97ef
1 changed files with 10 additions and 0 deletions
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10
ArduCopter/events.pde
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@ -110,6 +110,16 @@ static void failsafe_battery_event(void)
}
}
break;
case AUTO:
// set mode to RTL or LAND
if (home_distance > wp_nav.get_waypoint_radius()) {
if (!set_mode(RTL)) {
set_mode(LAND);
}
}else{
set_mode(LAND);
}
break;
default:
// set mode to RTL or LAND
if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > wp_nav.get_waypoint_radius()) {