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Plane: improved check for reaching RTL point for auto-land

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This commit is contained in:
Andrew Tridgell 2014-10-18 12:36:08 +11:00
parent 8c6b875dcc
commit 7ecc87a787
1 changed files with 11 additions and 8 deletions
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19
ArduPlane/ArduPlane.pde
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@ -1419,8 +1419,18 @@ static void update_navigation()
update_commands();
break;
case LOITER:
case RTL:
if (g.rtl_autoland &&
nav_controller->reached_loiter_target() &&
labs(altitude_error_cm) < 1000) {
if (mission.jump_to_landing_sequence()) {
gcs_send_text_P(PSTR("Starting auto landing"));
set_mode(AUTO);
}
}
// fall through to LOITER
case LOITER:
case GUIDED:
// allow loiter direction to be changed in flight
if (g.loiter_radius < 0) {
@ -1429,13 +1439,6 @@ static void update_navigation()
loiter.direction = 1;
}
update_loiter();
if (g.rtl_autoland && control_mode == RTL && get_distance(current_loc, next_WP_loc) < fabs(g.loiter_radius) + 20.0f && fabs(current_loc.alt - next_WP_loc.alt) < 10.0f) {
if (mission.jump_to_landing_sequence()) {
set_mode(AUTO);
}
}
break;
case CRUISE: