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Arducopter: WP_radius

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Switching to stored WP_radius in meters, just like Arduplane
This commit is contained in:
Jason Short 2012-07-10 17:16:57 -07:00
parent 32e6a6ba8d
commit 9de2c00d93
3 changed files with 5 additions and 5 deletions
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2
ArduCopter/ArduCopter.pde
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@ -1980,7 +1980,7 @@ static void update_navigation()
static void update_nav_RTL() static void update_nav_RTL()
{ {
// Have we have reached Home? // Have we have reached Home?
if(wp_distance <= g.waypoint_radius){ if(wp_distance <= (g.waypoint_radius * 100)){
// if loiter_timer value > 0, we are set to trigger auto_land or approach // if loiter_timer value > 0, we are set to trigger auto_land or approach
set_mode(LOITER); set_mode(LOITER);

6
ArduCopter/commands_logic.pde
View File

@ -454,7 +454,7 @@ static bool verify_nav_wp()
} }
// Did we pass the WP? // Distance checking // Did we pass the WP? // Distance checking
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){ if((wp_distance <= (g.waypoint_radius * 100)) || check_missed_wp()){
// if we have a distance calc error, wp_distance may be less than 0 // if we have a distance calc error, wp_distance may be less than 0
if(wp_distance > 0){ if(wp_distance > 0){
@ -505,7 +505,7 @@ static bool verify_loiter_time()
return true; return true;
} }
} }
if(wp_control == WP_MODE && wp_distance <= g.waypoint_radius){ if(wp_control == WP_MODE && wp_distance <= (g.waypoint_radius * 100)){
// reset our loiter time // reset our loiter time
loiter_time = millis(); loiter_time = millis();
// switch to position hold // switch to position hold
@ -534,7 +534,7 @@ static bool verify_RTL()
wp_control = WP_MODE; wp_control = WP_MODE;
// Did we pass the WP? // Distance checking // Did we pass the WP? // Distance checking
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){ if((wp_distance <= (g.waypoint_radius * 100)) || check_missed_wp()){
wp_control = LOITER_MODE; wp_control = LOITER_MODE;
//gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home")); //gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));

2
ArduCopter/navigation.pde
View File

@ -257,7 +257,7 @@ static int16_t calc_desired_speed(int16_t max_speed, bool _slow)
// limit the ramp up of the speed // limit the ramp up of the speed
// waypoint_speed_gov is reset to 0 at each new WP command // waypoint_speed_gov is reset to 0 at each new WP command
if(max_speed > waypoint_speed_gov){ if(max_speed > waypoint_speed_gov){
waypoint_speed_gov += (int)(200.0 * dTnav); // increase at .5/ms waypoint_speed_gov += (int)(100.0 * dTnav); // increase at .5/ms
max_speed = waypoint_speed_gov; max_speed = waypoint_speed_gov;
} }