From a7ccfd6f197992f7237ec5c44d0d16662adb9be9 Mon Sep 17 00:00:00 2001 From: rishabsingh3003 Date: Sun, 29 Jan 2023 15:39:28 +0530 Subject: [PATCH] Copter: Add option to resume precland after reposiiton --- ArduCopter/mode.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp index 1e9bc45a22..4462afad31 100644 --- a/ArduCopter/mode.cpp +++ b/ArduCopter/mode.cpp @@ -667,6 +667,13 @@ void Mode::land_run_horizontal_control() AP::logger().Write_Event(LogEvent::LAND_REPO_ACTIVE); } copter.ap.land_repo_active = true; +#if PRECISION_LANDING == ENABLED + } else { + // no override right now, check if we should allow precland + if (copter.precland.allow_precland_after_reposition()) { + copter.ap.land_repo_active = false; + } +#endif } }