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added set_new_altitude call

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This commit is contained in:
Jason Short 2012-01-10 23:33:07 -08:00
parent f36aba8af2
commit acd877abda
1 changed files with 7 additions and 3 deletions
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10
ArduCopter/commands.pde
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@ -147,9 +147,13 @@ static void set_next_WP(struct Location *wp)
// ---------------------
next_WP = *wp;
// used to control and limit the rate of climb - not used right now!
// -----------------------------------------------------------------
target_altitude = current_loc.alt;
// used to control and limit the rate of climb
// -------------------------------------------
// We don't set next WP below 1m
next_WP.alt = max(next_WP.alt, 100);
// Save new altitude so we can track it for climb_rate
set_new_altitude(next_WP.alt);
// this is used to offset the shrinking longitude as we go towards the poles
float rads = (fabs((float)next_WP.lat)/t7) * 0.0174532925;